main.c

摩托罗拉 ColdFire 5206E 在UCOSII上的移植代码

/*
*********************************************************************************************************
*                                               uC/OS-II
*                                         The Real-Time Kernel
*
*                             (c) Copyright 2000-2002, Jean J. Labrosse, Weston, FL
*                                          All Rights Reserved
*
*                                          MCF5206e Sample code
*
*
*
* File         : MAIN.C
* Originally by: Jean J. Labrosse
* Modified by  : Mark D. Medonis
*			     Paul S. Carpenter
*
* Description  : Sets up MCF5206e hardware Timer 1 for RTOS use.  Creates 10 sample tasks that run forever,
*				 each with an OS delay while "looping".
*
*********************************************************************************************************
*/

#include "target.h"
#include "OS_CPU.H"
#include "OS_CFG.H"
#include "ucos_ii.h"

#define TASK_STK_SIZE	256		// task stack size (mult. by 4 for num. of bytes)

// these defines are for TEST PURPOSES ONLY!
#define LOGGING 		1   
//#define printf(x) asm{nop} // whatever you use to for program output with your target, put code/call here

/*
*********************************************************************************************************
*                                           REVISION HISTORY
*
*
* 0.a
* Port for Motorola MCF5272 ColdFire microprocessor.
* Added some printf statements to the AppTasks to monitor multitasking. This
* is used with the BDM debugger and the console I/O libraries provided by CodeWarrior.
* M. Medonis 4/16/2002
*
* 0.b
* Port for Motorola MCF5206e ColdFire microprocessor.
*********************************************************************************************************
*/

/*$PAGE*/
/*
*********************************************************************************************************
*                                                VARIABLES
*********************************************************************************************************
*/

OS_STK  AppStartTaskStk[TASK_STK_SIZE];
OS_STK  AppTask1Stk[TASK_STK_SIZE];
OS_STK  AppTask2Stk[TASK_STK_SIZE];
OS_STK  AppTask3Stk[TASK_STK_SIZE];
OS_STK  AppTask4Stk[TASK_STK_SIZE];
OS_STK  AppTask5Stk[TASK_STK_SIZE];
OS_STK  AppTask6Stk[TASK_STK_SIZE];
OS_STK  AppTask7Stk[TASK_STK_SIZE];
OS_STK  AppTask8Stk[TASK_STK_SIZE];
OS_STK  AppTask9Stk[TASK_STK_SIZE];
OS_STK  AppTask10Stk[TASK_STK_SIZE];

static  INT16U  Task1Ctr;
static  INT16U  Task2Ctr;
static  INT16U  Task3Ctr;
static  INT16U  Task4Ctr;
static  INT16U  Task5Ctr;
static  INT16U  Task6Ctr;
static  INT16U  Task7Ctr;
static  INT16U  Task8Ctr;
static  INT16U  Task9Ctr;
static  INT16U  Task10Ctr;

volatile mcf5206e_IMM *pIMM = (mcf5206e_IMM *)MBAR;			// pointer to start of CPU's SIM registers
volatile PVECTORTABLE pEVT = (PVECTORTABLE)EVT_ADDRESS;		// pointer to Exception Vector Table

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

static void  AppStartTask(void *pdata);
static void  AppTask1(void *pdata);
static void  AppTask2(void *pdata);
static void  AppTask3(void *pdata);
static void  AppTask4(void *pdata);
static void  AppTask5(void *pdata);
static void  AppTask6(void *pdata);
static void  AppTask7(void *pdata);
static void  AppTask8(void *pdata);
static void  AppTask9(void *pdata);
static void  AppTask10(void *pdata);

void timerInit(uint32 ticksPerSec,
			   void *pTimerISR);
void evtInit(void);

extern void isrGeneric(void);
extern void _genericISRstub(void); 

/*
*********************************************************************************************************
*                                                main()
*
* Description : This is the standard entry point for C code.  It is assumed that your code will call
*               main() once you have performed all necessary 683xx and C initialization.
* Arguments   : none
*********************************************************************************************************
*/

void main (void)
{
	// mask all interrupts 
	pIMM->sim.IMR = 0xFFFF;
	
	// initialize EVT
	evtInit();
	
    /*---- Any initialization code prior to calling OSInit() goes HERE --------------------------------*/

    OSInit();                               /* Initialize "uC/OS-II, The Real-Time Kernel"             */

    /*---- Any initialization code before starting multitasking ---------------------------------------*/

    OSTaskCreate(AppStartTask, (void *)0x12345678L, (void *)&AppStartTaskStk[TASK_STK_SIZE-1], 0);

    /*---- Create any other task you want before we start multitasking --------------------------------*/

    OSStart();                              /* Start multitasking (i.e. give control to uC/OS-II)      */
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                          STARTUP TASK
*
* Description : This is an example of a startup task.  As mentioned in the book's text, you MUST
*               initialize the ticker only once multitasking has started.
* Arguments   : pdata   is the argument passed to 'AppStartTask()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' is not
*                  used.  The compiler should not generate any code for this statement.
*               2) Interrupts are enabled once the task start because the I-bit of the CCR register was
*                  set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************
*/

static void  AppStartTask (void *pdata)
{
	INT8U rc;
  	int i=0;
#ifdef LOGGING
	char temp[40];
#endif

    pdata = pdata;                      // 'pdata' should contain 0x12345678!                      */

	// initialize Timer 1 for the OS "heartbeat" and start it
    timerInit(OS_TICKS_PER_SEC,
    		 OSTickISR);		

    /*---- Task initialization code goes HERE! --------------------------------------------------------*/
    rc = OSTaskCreate(AppTask1, (void *)0, (void *)&AppTask1Stk[TASK_STK_SIZE-1], 20);
    rc = OSTaskCreate(AppTask2, (void *)0, (void *)&AppTask2Stk[TASK_STK_SIZE-1], 21);
    rc = OSTaskCreate(AppTask3, (void *)0, (void *)&AppTask3Stk[TASK_STK_SIZE-1], 22);
    rc = OSTaskCreate(AppTask4, (void *)0, (void *)&AppTask4Stk[TASK_STK_SIZE-1], 23);
    rc = OSTaskCreate(AppTask5, (void *)0, (void *)&AppTask5Stk[TASK_STK_SIZE-1], 24);
    rc = OSTaskCreate(AppTask6, (void *)0, (void *)&AppTask6Stk[TASK_STK_SIZE-1], 25);
    rc = OSTaskCreate(AppTask7, (void *)0, (void *)&AppTask7Stk[TASK_STK_SIZE-1], 26);
    rc = OSTaskCreate(AppTask8, (void *)0, (void *)&AppTask8Stk[TASK_STK_SIZE-1], 27);
    rc = OSTaskCreate(AppTask9, (void *)0, (void *)&AppTask9Stk[TASK_STK_SIZE-1], 28);
    rc = OSTaskCreate(AppTask10, (void *)0, (void *)&AppTask10Stk[TASK_STK_SIZE-1], 29);

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
		i++;
#ifdef LOGGING
		sprintf(temp, "%d", i);
        printf("Start ");
        printf(temp);
        printf("\r\n");
#endif

        OSTimeDly(250);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #1
*
* Description : This is an example of a task.
* Arguments   : pdata   is the argument passed to 'AppTask1()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' is not
*                  used.  The compiler should not generate any code for this statement.
*               2) Interrupts are enabled once the task start because the I-bit of the CCR register was
*                  set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************
*/

static void  AppTask1 (void *pdata)
{
#ifdef SEM_TEST
	uint8 err;
#endif
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/
    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task1Ctr++;
        
#ifdef LOGGING
        printf("App1*******\r\n");
#endif
        OSTimeDly(100);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #2
*
* Description : This is an example of a task.
* Arguments   : pdata   is the argument passed to 'AppTask2()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' is not
*                  used.  The compiler should not generate any code for this statement.
*               2) Interrupts are enabled once the task start because the I-bit of the CCR register was
*                  set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************
*/

static void  AppTask2 (void *pdata)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task2Ctr++;
#ifdef LOGGING
        printf("App2\r\n");
#endif

        OSTimeDly(500);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #3
*
* Description : This is an example of a task.
* Arguments   : pdata   is the argument passed to 'AppTask2()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' is not
*                  used.  The compiler should not generate any code for this statement.
*               2) Interrupts are enabled once the task start because the I-bit of the CCR register was
*                  set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************
*/

static void  AppTask3 (void *pdata)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task3Ctr++;
#ifdef LOGGING
        printf("App3\r\n");
#endif

        OSTimeDly(50);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #4
*
* Description : This is an example of a task.
* Arguments   : pdata   is the argument passed to 'AppTask2()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' is not
*                  used.  The compiler should not generate any code for this statement.
*               2) Interrupts are enabled once the task start because the I-bit of the CCR register was
*                  set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************