📄 test.c
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/*
*************************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
*
* AVR Sample code
* File : TEST.C
* By : Ole Saether
*
* $Modtime: 19.07.01 22:24 $
* $Revision: 3 $
*
* Description :
*
* This file contains a simple example program showing how to use the AVR port of uC/OS-II. It is
* based on Example #1 from Jean Labrosse's book "MicroC/OS-II, The Real Time Kernel." The main
* difference is that this example does not display the time of day.
* You must have the AVR UART connected to a VT102 compatible terminal with color support to get the
* most out of this example.
*
* The support routines at the end of this file are included only to make this example run; they
* should not be used in production code without careful testing.
*
*************************************************************************************************************
*/
#include "includes.h"
/*
**************************************************************************************************************
* CONSTANTS
**************************************************************************************************************
*/
#define TASK_STK_SIZE OS_TASK_DEF_STK_SIZE /* Size of each task's stacks (# of bytes) */
#define N_TASKS 10 /* Number of identical tasks */
/*
**************************************************************************************************************
* VARIABLES
**************************************************************************************************************
*/
OS_STK TaskStk[N_TASKS][TASK_STK_SIZE]; /* Tasks stacks */
OS_STK TaskStartStk[TASK_STK_SIZE];
char TaskData[N_TASKS]; /* Parameters to pass to each task */
OS_EVENT *RandomSem;
OS_EVENT *DispStrSem;
INT32U RndNext; /* Used by random generator */
INT8U UartTxBuf[256]; /* 256 bytes UART transmit buffer */
volatile INT8U UartTxRdPtr; /* UART transmit buffer read pointer */
INT8U UartTxWrPtr; /* UART transmit buffer write pointer */
volatile INT8U UartTxCount; /* Number of characters to send */
OS_EVENT *UartTxSem;
/*
**************************************************************************************************************
* FUNCTION PROTOTYPES
**************************************************************************************************************
*/
C_task Task(void *data); /* Function prototypes of tasks */
C_task TaskStart(void *data); /* Function prototypes of Startup task */
void PutChar(char c); /* Write a character to the AVR UART */
void AvrInit(void); /* Initialize AVR */
void PutString(const char *s); /* Write a null-terminated string to the AVR UART */
void SPrintDec(char *, INT32U, INT8U, char); /* Output an INT16U to a string (right adjust) */
void PutDec (INT8U x); /* Display an INT8U without leading zeros */
void VT102Attribute (INT8U fgcolor, INT8U bgcolor); /* Set attributes on VT102 terminal */
void VT102DispClrScr(void); /* Clear VT102 terminal */
void VT102DispChar(INT8U, INT8U, char, INT8U, INT8U); /* Display a character on VT102 terminal */
void VT102DispStr(INT8U, INT8U, char *, INT8U, INT8U); /* Display a string on VT102 terminal */
INT8U random(INT8U n); /* Simple random generator (found in K&R) */
/*
**************************************************************************************************************
* MAIN
**************************************************************************************************************
*/
C_task main (void)
{
AvrInit(); /* Initialize the AVR UART and Timer */
OSInit();
RandomSem = OSSemCreate(1); /* Random number semaphore */
DispStrSem = OSSemCreate(1); /* Display string semaphore */
UartTxSem = OSSemCreate(254); /* Initialize Uart transmit buffer semaphore to 2 */
/* bytes less than the buffer size */
OSTaskCreate(TaskStart, (void *)0, (void *)&TaskStartStk[TASK_STK_SIZE - 1], 0);
RndNext = 1; /* set random generator seed to 1 */
OSStart(); /* Start multitasking */
}
/*
**************************************************************************************************************
* STARTUP TASK
**************************************************************************************************************
*/
C_task TaskStart (void *data)
{
INT8U i;
INT8U err;
char s[10];
data = data; /* Prevent compiler warning */
VT102DispClrScr(); /* Clear the screen */
VT102DispStr(26, 1, "uC/OS-II, The Real-Time Kernel", COLOR_WHITE, COLOR_RED);
VT102DispStr(33, 2, "Jean J. Labrosse", COLOR_WHITE, COLOR_BLACK);
VT102DispStr(29, 3, "AVR port by Ole Saether", COLOR_WHITE, COLOR_BLACK);
VT102DispStr(1, 23, "Determining CPU's capacity ...", COLOR_WHITE, COLOR_BLACK);
OSStatInit(); /* Initialize uC/OS-II's statistics */
for (i = 0; i < N_TASKS; i++) { /* Create N_TASKS identical tasks */
TaskData[i] = '0' + i; /* Each task will display its own letter */
OSTaskCreate(Task, (void *)&TaskData[i], (void *)&TaskStk[i][TASK_STK_SIZE - 1], i + 1);
}
VT102DispStr(1, 23, "#Tasks : xxxxx CPU Usage: xxx %", COLOR_WHITE, COLOR_BLACK);
VT102DispStr(1, 24, "#Task switch/sec: xxxxx", COLOR_WHITE, COLOR_BLACK);
s[0] = 'V';
SPrintDec(&s[1], OSVersion() / 100, 1, '0');
s[2] = '.';
SPrintDec(&s[3], OSVersion() % 100, 2, '0');
VT102DispStr(76, 24, s, COLOR_WHITE, COLOR_BLUE);
for (;;) {
SPrintDec(s, (INT32U)OSTaskCtr, 5, ' '); /* Display #tasks running */
VT102DispStr(19, 23, s, COLOR_BLUE, COLOR_CYAN);
SPrintDec(s, (INT32U)OSCPUUsage, 3, ' '); /* Display CPU usage in % */
VT102DispStr(37, 23, s, COLOR_BLUE, COLOR_CYAN);
SPrintDec(s, (INT32U)OSCtxSwCtr, 5, ' '); /* Display #context switches per second */
VT102DispStr(19, 24, s, COLOR_BLUE, COLOR_CYAN);
OSCtxSwCtr = 0;
OSTimeDlyHMSM(0, 0, 1, 0); /* Wait one second */
}
}
/*
**************************************************************************************************************
* TASKS
**************************************************************************************************************
*/
C_task Task (void *data)
{
INT8U x;
INT8U y;
INT8U err;
for (;;) {
OSSemPend(RandomSem, 0, &err); /* Acquire semaphore to perform random numbers */
x = random(80); /* Find X position where task number will appear */
y = random(16); /* Find Y position where task number will appear */
OSSemPost(RandomSem); /* Release semaphore */
/* Display the task number on the screen */
VT102DispChar(x + 1, y + 5, *(char *)data, COLOR_WHITE, COLOR_BLACK);
OSTimeDly(10); /* Delay 3 clock ticks */
}
}
/*
**************************************************************************************************************
* SUPPORT ROUTINES
**************************************************************************************************************
*/
void UartTxHandler (void)
{
UartTxCount--; /* Decrement number of characters left to send */
if (UartTxCount) {
OS_ENTER_CRITICAL();
UDR = UartTxBuf[UartTxRdPtr]; /* Place next character into UART transmit register */
UartTxRdPtr++; /* Advance to next character */
OS_EXIT_CRITICAL();
} else {
UCR &= ~0x40; /* Disable UART transmit complete interrupt */
}
OSSemPost(UartTxSem); /* Signal that we have room for one more character */
}
void AvrInit (void)
{
TCCR0 = 0x05; /* Set TIMER0 prescaler to CLK/1024 */
TIMSK = 0x02; /* Enable TIMER0 overflow interrupt */
UBRR = 23; /* 19200 BAUD at 7.3728MHz */
MCUCR |= 0x80; /* Enable external RAM */
UCR = 0x08; /* Enable UART transmitter */
UartTxCount = 0; /* Clear number of characters to send */
UartTxRdPtr = 0; /* Initialize transmit buffer read pointer */
UartTxWrPtr = 0; /* Initialize transmit buffer write pointer */
}
void PutChar (char c)
{
INT8U err;
OSSemPend(UartTxSem, 0, &err); /* Wait for space in transmit buffer */
OS_ENTER_CRITICAL();
if (UartTxCount) {
UartTxBuf[UartTxWrPtr] = c; /* Put character to send in transmit buffer */
UartTxWrPtr++; /* Prepare for next character */
UartTxCount++; /* Increment number of characters to send */
} else {
UDR = c; /* Write first char directly to the UART */
UartTxCount = 1;
UCR |= 0x40; /* Enable UART transmit complete interrupt */
}
OS_EXIT_CRITICAL();
}
void PutString (const char *s)
{
while (*s != '\0') {
PutChar(*s++);
}
}
void SPrintDec(char *s, INT32U x, INT8U n, char c)
{
INT8U i;
s[n] = '\0';
for (i = 0; i < n; i++) {
s[n - i - 1] = '0' + (x % 10);
x /= 10;
}
for (i = 0; i < (n - 1); i++) {
if (s[i] == '0') {
s[i] = c;
} else {
break;
}
}
}
INT8U random (INT8U n)
{
RndNext = RndNext * 1103515245 + 12345;
return ((INT8U)(RndNext / 256) % (n + 1));
}
void PutDec (INT8U x2)
{
INT8U x0;
INT8U x1;
x0 = (x2 % 10);
x2 /= 10;
x1 = (x2 % 10);
x2 /= 10;
if (x2) {
PutChar(x2 + '0');
}
if (x1 || x2) {
PutChar(x1 + '0');
}
PutChar(x0 + '0');
}
void VT102Attribute (INT8U fgcolor, INT8U bgcolor)
{
PutChar(0x1b);
PutChar('[');
PutDec(30 + fgcolor);
PutChar(';');
PutDec(40 + bgcolor);
PutChar('m');
}
void VT102DispClrScr (void)
{
VT102Attribute(COLOR_WHITE, COLOR_BLACK);
PutString("\x1B[2J");
}
void VT102DispChar (INT8U x, INT8U y, char c, INT8U fgcolor, INT8U bgcolor)
{
INT8U err;
OSSemPend(DispStrSem, 0, &err); /* Acquire semaphore to display string */
VT102Attribute(fgcolor, bgcolor);
PutChar(0x1B);
PutChar('[');
PutDec(y);
PutChar(';');
PutDec(x);
PutChar('H');
PutChar(c);
OSSemPost(DispStrSem); /* Release semaphore */
}
void VT102DispStr (INT8U x, INT8U y, char *s, INT8U fgcolor, INT8U bgcolor)
{
INT8U err;
OSSemPend(DispStrSem, 0, &err); /* Acquire semaphore to display string */
VT102Attribute(fgcolor, bgcolor);
PutChar(0x1B);
PutChar('[');
PutDec(y);
PutChar(';');
PutDec(x);
PutChar('H');
PutString(s);
OSSemPost(DispStrSem); /* Release semaphore */
}
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