app.c

ucos-II在PIC系列单片机上的移植实例.

/* This is simple test application.
 * It starts some tasks and use LEDs on Microchip
 * dsPIC development board with dsPIC30F6014 */

#include "includes.h"

/* prototypes */
void error_found(void);
extern void dummy_task(void *pdata);

/* globals */
OS_STK StartTaskStk[100];
OS_STK stk1[200];
OS_STK stk2[200];
OS_STK stk3[200];
OS_STK dummyStk[100];

OS_EVENT *pevent;

/* this is highest priority task in the system */
void StartTask (void *pdata) {
    pdata = pdata;
    
    /* start periodic timer */
    TMR1 = 0x0000;
    T1CONbits.TCS = 0;      /* internal clk. source */
    T1CONbits.TGATE = 0;    /* internal clk. source */
    T1CONbits.TCKPS = 2;    /* clk/64 - prescaler */
    PR1 = 1152;             /* num. of cycles per interrupt */    
    
    IPC0bits.T1IP = 4;  /* int. priority */
    IFS0bits.T1IF = 0;  /* clear int. flag */
    IEC0bits.T1IE = 1;  /* enable int. */
    SRbits.IPL = 0;     /* enable CPU prio. levels 1-7 */
    T1CONbits.TON = 1;  /* start timer */
    
    while (1) {
        if (KEY1 == 0) {
            LED4 = 0;  /* turn ON led, don't turn it off until reset */
        }
        OSTimeDly(OS_TIME_100ms*3);
    }
}

void error_found(void) {
#if OS_CRITICAL_METHOD == 3
    OS_CPU_SR  cpu_sr;
#endif
    /* set led status */
    LED1 = 1;
    LED2 = 0;   /* ON */
    LED3 = 0;   /* ON */
    LED4 = 1;
    OS_ENTER_CRITICAL();    /* disable interrupt */
    while(1);               /* stay here ontil the end of time */
}

void check(
    unsigned int x1,
    unsigned int x2,
    unsigned int x3,
    unsigned int x4,
    unsigned int y1,
    unsigned int y2,
    unsigned int y3,
    unsigned int y4) {
        
        if (x1!=y1) error_found();
        if (x2!=y2) error_found();
        if (x3!=y3) error_found();
        if (x4!=y4) error_found();
}   

/* flash LEDs and check that variables have not changed */
void flasher(void *data) {
    unsigned int instance;
    unsigned int i;
    
    volatile unsigned int x1, x2, x3, x4;
    volatile unsigned char s[20];            /* dummy */
    volatile unsigned int y1, y2, y3, y4;
    
    INT8U err;
    
    instance = (unsigned int)data;
    
    s[0] = 1;
    i = 0;      /* jitter */

    switch(instance) {
        case 1:
            x1=11; x2=12; x3=13; x4=14;
            y1=x1; y2=x2; y3=x3; y4=x4;
            while(1) {
                LED1 = 0;
                check(x1,x2,x3,x4,y1,y2,y3,y4);
                
                OSSemPend(pevent, 0, &err);     /* triger task-level context switch */
                
                check(x1,x2,x3,x4,y1,y2,y3,y4);
                
                LED1 = 1;

                OSSemPend(pevent, 0, &err);

                check(x1,x2,x3,x4,y1,y2,y3,y4);
                i++; if (i>=15) i=0;
            }
            break;
        case 2:
            x1=21; x2=22; x3=23; x4=24;
            y1=x1; y2=x2; y3=x3; y4=x4;
            while(1) {
                LED2 = 0;
                check(x1,x2,x3,x4,y1,y2,y3,y4);
                OSTimeDly(OS_TIME_10ms*5+i);
                
                OSSemPost(pevent);
                
                OSTimeDly(OS_TIME_10ms*3+i);
                check(x1,x2,x3,x4,y1,y2,y3,y4);
                LED2 = 1;
                OSTimeDly(OS_TIME_10ms*7+i);
                check(x1,x2,x3,x4,y1,y2,y3,y4);
                i++; if (i>=15) i=0;
            }
            break;      
        case 3:
            x1=31; x2=32; x3=33; x4=34;
            y1=x1; y2=x2; y3=x3; y4=x4;
            while(1) {
                LED3 = 0;
                check(x1,x2,x3,x4,y1,y2,y3,y4);
                OSTimeDly(OS_TIME_10ms*19+i);
                check(x1,x2,x3,x4,y1,y2,y3,y4);
                LED3 = 1;                
                OSTimeDly(OS_TIME_10ms*19+i);              
                check(x1,x2,x3,x4,y1,y2,y3,y4);
                i++; if (i>=15) i=0;
            }
            break;
        
        case 4:
            while (1) {
                LED3 = 0;
                OSTimeDly(OS_TICKS_PER_SEC);
                LED3 = 1;
                OSTimeDly(OS_TICKS_PER_SEC);
             }
        
                default:
            break;
    }
    /* should not be here */
    while (1) {
        OSTimeDly(OS_TICKS_PER_SEC);
    }
}

int main ( void ) {
    /* init I/O pins */
    TRISDbits.TRISD0 = 0;
    TRISDbits.TRISD1 = 0;
    TRISDbits.TRISD2 = 0;
    TRISDbits.TRISD3 = 0;
    
    /* turn off all LEDs */
    LED1 = 1;
    LED2 = 1;
    LED3 = 1;
    LED4 = 1;

    OSInit();
    OSTaskCreate(StartTask, NULL, &StartTaskStk[0], 0);
    
    OSTaskCreate(flasher, (void *)1, &stk1[0], 1);
    OSTaskCreate(flasher, (void *)2, &stk2[0], 2);
    OSTaskCreate(flasher, (void *)3, &stk3[0], 3);
    
    OSTaskCreate(dummy_task, NULL, &dummyStk[0], 20);
    
    pevent = OSSemCreate(0);
    
    OSStart();
      
    return 0;
}