appmain.c

UCOSII的移植,及多任务的管理,处理器为EPSON公司的

/*
*********************************************************************************************************
*                                                uC/OS-II
*                                          The Real-Time Kernel
*
*                          (c) Copyright 1992-2002, Jean J. Labrosse, Weston, FL
*                                           All Rights Reserved
*
*                                               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_1_ID           2
#define          TASK_2_ID           3
#define          TASK_3_ID           4
#define          TASK_4_ID           5


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


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

OS_STK        TaskStartStk[TASK_STK_SIZE];            /* Startup    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_EVENT     *Mbox1;                                /* Message mailboxes for Tasks #4 and #5         */
OS_EVENT     *Mbox2;
OS_EVENT     *Mbox3;                                /* Message mailboxes for Tasks #4 and #5         */
OS_EVENT     *Mbox4;

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

        void  TaskStart(void *data);                  /* Function prototypes of tasks                  */
static  void  TaskStartCreateTasks(void);
static  void  TaskStartDispInit(void);
static  void  TaskStartDisp(void);
        void  Task1(void* pdata);
        void  Task2(void* pdata);
        void  Task3(void* pdata);
        void  Task4(void* pdata);

extern void vInitLED(void);
extern void vInitKey(void);
extern void vSingleOn(unsigned char num);
extern void vSingleOff(unsigned char num);
/*********************************************************************************************************
*                                                  MAIN
*********************************************************************************************************
*/

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


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

    ptos        = &TaskStartStk[TASK_STK_SIZE - 1];        /* TaskStart() will use Floating-Point      */
    pbos        = &TaskStartStk[0];
    size        = TASK_STK_SIZE;
    OSTaskStkInit_C33209(&ptos, &pbos, &size, 0);            
    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);
    init_timer();
    Start_Timer();
    vInitKey();
    vInitLED();
    OSStart();                                             /* Start multitasking                       */
}

void  TaskStart (void *pdata)
{
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */
    OS_CPU_SR  cpu_sr;
#endif
    INT16S     key;


    pdata = pdata;                                         /* Prevent compiler warning                 */

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

    Mbox1 = OSMboxCreate((void *)0);                     /* Create 2 message mailboxes               */
    Mbox2 = OSMboxCreate((void *)0);
    Mbox3 = OSMboxCreate((void *)0);
    Mbox4 = OSMboxCreate((void *)0);
	
    TaskStartCreateTasks();                                /* Create all other tasks                   */

    for (;;) {
    	asm(" nop ");
    	OSCtxSwCtr = 0;                                    /* Clear context switch counter             */
        OSTimeDly(OS_TICKS_PER_SEC);                       /* Wait one second                          */
    }
}

/*********************************************************************************************************
*                                             CREATE TASKS
*********************************************************************************************************
*/

static  void  TaskStartCreateTasks (void)
{
    OSTaskCreateExt(Task1,
                   (void *)0,
                   &Task1Stk[TASK_STK_SIZE - 1],
                   TASK_1_PRIO,
                   TASK_1_ID,
                   &Task1Stk[0],
                   TASK_STK_SIZE,
                   (void *)0,
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);

    OSTaskCreateExt(Task2,
                   (void *)0,
                   &Task2Stk[TASK_STK_SIZE - 1],
                   TASK_2_PRIO,
                   TASK_2_ID,
                   &Task2Stk[0],
                   TASK_STK_SIZE,
                   (void *)0,
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);

    OSTaskCreateExt(Task3,
                   (void *)0,
                   &Task3Stk[TASK_STK_SIZE - 1],
                   TASK_3_PRIO,
                   TASK_3_ID,
                   &Task3Stk[0],
                   TASK_STK_SIZE,
                   (void *)0,
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);

    OSTaskCreateExt(Task4,
                   (void *)0,
                   &Task4Stk[TASK_STK_SIZE-1],
                   TASK_4_PRIO,
                   TASK_4_ID,
                   &Task4Stk[0],
                   TASK_STK_SIZE,
                   (void *)0,
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
}


/*
*********************************************************************************************************
*                                               TASK #1
*
* Description: This task executes every 100 mS and measures the time it task to perform stack checking
*              for each of the 5 application tasks.  Also, this task displays the statistics related to
*              each task's stack usage.
*********************************************************************************************************
*/

void  Task1 (void* pdata)
{
    INT8U       err;
    INT16U      time;                       /* Execution time (in uS)                                  */

    for (;;) {
        OSMboxPend(Mbox1, 0, &err);
    	vSingleOff(1);
        OSTimeDly(OS_TICKS_PER_SEC);                       /* Delay for 100 mS                         */
        vSingleOn(1);
    }
}

/*
*********************************************************************************************************
*                                               TASK #2
*
* Description: This task displays a clockwise rotating wheel on the screen.
*********************************************************************************************************
*/

void  Task2 (void* pdata)
{
    INT8U       err;
    INT16U      time;         
    
    for (;;) {
        OSMboxPend(Mbox2, 0, &err);
    	vSingleOff(2);
        OSTimeDly(OS_TICKS_PER_SEC);                       /* Delay for 100 mS                         */
        vSingleOn(2);
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                               TASK #3
*
* Description: This task displays a counter-clockwise rotating wheel on the screen.
*
* Note(s)    : I allocated 500 bytes of storage on the stack to artificially 'eat' up stack space.
*********************************************************************************************************
*/

void  Task3 (void* pdata)
{
    INT8U       err;
    INT16U      time;         


    for (;;) {
        OSMboxPend(Mbox3, 0, &err);
    	vSingleOff(3);
        OSTimeDly(OS_TICKS_PER_SEC);                       /* Delay for 100 mS                         */
        vSingleOn(3);
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                               TASK #4
*
* Description: This task sends a message to Task #5.  The message consist of a character that needs to
*              be displayed by Task #5.  This task then waits for an acknowledgement from Task #5
*              indicating that the message has been displayed.
*********************************************************************************************************
*/

void  Task4 (void* pdata)
{
    INT8U       err;
    INT16U      time;         


    for (;;) {
        OSMboxPend(Mbox4, 0, &err);
    	vSingleOff(4);
        OSTimeDly(OS_TICKS_PER_SEC);                       /* Delay for 100 mS                         */
        vSingleOn(4);
    }
}