queue.c

ucosii小实验任务4 消息队列

/*
*********************************************************************************************************
*                                                uC/OS-II
*                                          The Real-Time Kernel
*
*                           
*
*********************************************************************************************************
*/

#include "C:\SOFTWARE\uCOS-II\queue\includes.h"

/*
*********************************************************************************************************
*                                               CONSTANTS
*********************************************************************************************************
*/

#define  TASK_STK_SIZE                 512       /* Size of each task's stacks (# of WORDs)            */
#define  N_TASKS                        3        /* Number of tasks which wait for queue1              */

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

OS_STK        TaskStk1[N_TASKS][TASK_STK_SIZE];   /* Tasks stacks                                  */
OS_STK        TaskStk2[N_TASKS][TASK_STK_SIZE];  
OS_STK        TaskStartStk[TASK_STK_SIZE];
OS_STK        TaskConStk[TASK_STK_SIZE];
INT8U         TaskData1[N_TASKS];                 /* Parameters to pass to each task               */
INT8U         TaskData2[N_TASKS];                    
OS_EVENT      *q1;                                /* 2 queue                                       */
OS_EVENT	  *q2; 
void          *Msg1[6];							  /* 2 arry for msg                                */
void          *Msg2[6];

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

        void  Taskq1(void *pdata);                      /* Function prototypes of taskq1s                  */
		void  Taskq2(void *pdata);                      /* Function prototypes of taskq2s                  */
        void  TaskStart(void *pdata);					/* Function prototypes of Startup task             */
        void  TaskCon(void *pdata);                     /* Function prototypes of Control task             */
static  void  TaskStartCreateTasks(void);
static  void  TaskStartDispInit(void);

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

void  main (void)
{
	INT8U err;                                            /* for setting the mutex                    */

	PC_DispClrScr(DISP_FGND_WHITE + DISP_BGND_BLACK);     /* 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 */

    q1 = OSQCreate(&Msg1[0],6);						      /* set a queue ,  6 is the capacity         */
	q2 = OSQCreate(&Msg2[0],6);						      /* set a queue ,  6 is the capacity         */

    OSTaskCreate(TaskStart, (void *)0, &TaskStartStk[TASK_STK_SIZE - 1], 0);
    OSStart();                                            /* Start multitasking                       */
}


/*
*********************************************************************************************************
*                                              STARTUP TASK
*********************************************************************************************************
*/
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                 */

    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 (;;) {
        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                            */
            }
        }
		OSTimeDlyHMSM(0, 0, 10, 0);                         /* Wait ten 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, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  2, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  3, "                               Example #4     Queue                             ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  4, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  5, "                                                                                ", 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, "Task0()    :                                                                    ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  9, "Task1()    :                                                                    ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 10, "Task2()    :                                                                    ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 11, "Task3()    :                                                                    ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 12, "Task4()    :                                                                    ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 13, "Task5()    :                                                                    ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 14, "TaskCon()  :                                                                    ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 15, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 16, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 17, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 18, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 19, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 20, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 21, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 22, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 23, "                            <-PRESS 'ESC' TO QUIT->                             ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY + DISP_BLINK);
/*                                1111111111222222222233333333334444444444555555555566666666667777777777 */
/*                      01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
}

/*$PAGE*/


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

static  void  TaskStartCreateTasks (void)
{
    INT8U  i;


    for (i = 0; i <N_TASKS; i++) {                            /* Create N_TASKS identical tasks    */
		  TaskData1[i] = i;                                   /* Each task will pass its own id    */
		  OSTaskCreate(Taskq1, (void *)&TaskData1[i], &TaskStk1[i][TASK_STK_SIZE - 1], i+1);
    }
	 
	
	for (i = 0; i <N_TASKS; i++) {                            /* Create N_TASKS identical tasks    */
		  TaskData2[i] = i;                                   /* Each task will pass its own id    */
          OSTaskCreate(Taskq2, (void *)&TaskData2[i], &TaskStk2[i][TASK_STK_SIZE - 1], i+4);
    }
	OSTaskCreate(TaskCon, (void *)0, &TaskConStk[TASK_STK_SIZE - 1], i+4);
															  /* Create control tasks              */
}

/*
*********************************************************************************************************
*                                                  TASKq1