main.c

摩托罗拉 ColdFire 5206E 在UCOSII上的移植代码

*/

static void  AppTask4 (void *pdata)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task4Ctr++;
#ifdef LOGGING
        printf("App4\r\n");
#endif

        OSTimeDly(1000);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #5
*
* 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  AppTask5 (void *pdata)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task5Ctr++;
#ifdef LOGGING
        printf("App5\r\n");
#endif

        OSTimeDly(500);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #6
*
* 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  AppTask6 (void *pdata)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task6Ctr++;
#ifdef LOGGING
        printf("App6\r\n");
#endif

        OSTimeDly(100);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #7
*
* 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  AppTask7 (void *pdata)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task7Ctr++;
#ifdef LOGGING
        printf("App7\r\n");
#endif

        OSTimeDly(150);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #8
*
* 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  AppTask8 (void *pdata)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task8Ctr++;
#ifdef LOGGING
        printf("App8\r\n");
#endif

        OSTimeDly(750);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #9
*
* 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  AppTask9 (void *pdata)
{
#ifdef LOGGING
	char temp[40];
#endif
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task9Ctr++;
#ifdef LOGGING
         printf("App9\r\n");
#endif
        OSTimeDly(200);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #10
*
* 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  AppTask10 (void *pdata)
{
#ifdef SEM_TEST
	INT8U err;
#endif
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task10Ctr++;

#ifdef LOGGING
        printf("App10*******\r\n");
#endif
        OSTimeDly(500);                       /* Delay task execution for one clock tick                 */
    }
}

/*******************************************************************************/
/*	Function name:
/*
/*		timerInit
/* 
/*  Description:
/*
/*		Initialize ColdFire hardware timer.  There are two available timers,
/*		although one timer will be allocated to the RTOS.
/*
/*******************************************************************************/
void timerInit(uint32 ticksPerSec,
			   void *pTimerISR)
{
	// write uart ISR into vector tbl.
	pEVT->Level[EVT_LEVEL_6] = (uint32)pTimerISR;

   	// TIMER 1: autovectored, level 6, priority 1
   	pIMM->sim.ICR9 = ( 0
						| mcf5206e_SIM_ICR_AVEC
						| mcf5206e_SIM_ICR_IL(6)
						| mcf5206e_SIM_ICR_IP(1));

   	//Setup Timer
	pIMM->timer.TMR1 = mcf5206e_TIMER_TMR_CLK_STOP;   // input clock bits = 00 to stop timer
   	pIMM->timer.TMR1 |= mcf5206e_TIMER_TMR_RST; // enable timer
   	pIMM->timer.TMR1 |= mcf5206e_TIMER_TMR_PS(0xff); // Set prescale to 1/256
   	//Set ORI and FRR bits
   	pIMM->timer.TMR1 |= mcf5206e_TIMER_TMR_ORI;
   	pIMM->timer.TMR1 |= mcf5206e_TIMER_TMR_FRR;
   	// set reference counter to produce specified tick rate
	pIMM->timer.TRR1 = (uint16)(SYSCLK/(16*256*ticksPerSec));
   	// Reset counter
   	pIMM->timer.TCN1 = 0;
   	// Set Master_Clk/16 and start
   	pIMM->timer.TMR1 |= mcf5206e_TIMER_TMR_CLK_DIV16;
	// unmask the timer interrupt in IMR 
	pIMM->sim.IMR &= (uint16)~mcf5206e_SIM_IMR_T1;
	
	return;
}


/*******************************************************************************/
/*	Function name:
/*
/*		evtInit
/* 
/*  Description:
/*
/*		Initialize CPU's Exception Vector Table.
/*
/*******************************************************************************/
void evtInit(void)
{
	uint32 *vector = 0;
	
	// move VBR to start of RAM address space
	asm {
	   MOVE.L #EVT_ADDRESS,D0
   	   MOVEC D0, VBR
   	}

	for (vector = (uint32 *)pEVT;
		 (uint32)vector < ((uint32)pEVT + 1024);
		 (uint32)vector++) {
		 
//		*vector = (uint32)  // TODO: insert default exception handler here!!!;
	}

	/* Setup the context switch exception                      */
	pEVT->Trap[15] = (uint32)&OSCtxSw;
			
   	return;
}


/*******************************************************************************/
/*	Function name:
/*
/*		isrGeneric
/* 
/*  Description:
/*
/*		Generic ISR processing routine, called by assembly ISR stub.
/*
/*******************************************************************************/
void isrGeneric(void)
{
	// this is where you do your ISR-specific processing
	
	return;
}