test.c

uC/OS-II Notes from Nohau Corporation The code associated with this readme.txt file is provided "as

/*
*********************************************************************************************************
*                                               uC/OS-II
*                                         The Real-Time Kernel
*
*                         (c) Copyright 1998, Jean J. Labrosse, Plantation, FL
*                                          All Rights Reserved
*
*
*                                          uBlaze Specific test code
*
* File : TEST.C
* By   : Jean J. Labrosse
* Revised: Jorgen Andersson, Nohau Corporation (10/30/02) for uBlaze
*
* Observe that the stack top is set to top-2 (not-1) to make the code run.
* See OSTaskCreate
* See OS_InitTaskIdle call to OSTaskCreateExt
* See OS_InitTaskStat call to OSTaskCreateExt
* Observ that the task stack frame has R13 and R2 pre-assigned for uBlaze
*********************************************************************************************************
*/

#include "includes.h"
/*
*********************************************************************************************************
*                                                VARIABLES
*********************************************************************************************************
*/

OS_STK  AppStartTaskStk[256];
OS_STK  AppTask1Stk[256];
OS_STK  AppTask2Stk[256];

INT16U  AppTask1Ctr;
INT16U  AppTask2Ctr;

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

static void  AppStartTask(void *pdata);
static void  AppTask1(void *pdata);
static void  AppTask2(void *pdata);
static void  AppTickInit(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 68HC12 and C initialization.
* Arguments   : none
*********************************************************************************************************
*/

int main (void)
{
    INT8U  err;

  *((volatile INT32U *)(0x14)) = (INT32U)OSTickISR ;  //Load interrupt vector
  *((volatile INT32U *)(0x14))|= 0xB8080000;          //Or in Jump

    /*---- 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 *)0, (void *)&AppStartTaskStk[254], 0);
    OSTaskNameSet(0, "Start Task", &err);

    OSTaskNameSet(OS_IDLE_PRIO, "uC/OS-II Idle Task", &err);
    OSTaskNameSet(OS_STAT_PRIO, "uC/OS-II Statistic Task", &err);

    /*---- 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.
*********************************************************************************************************
*/

static void  AppStartTask (void *pdata)
{
    INT8U  err;


    pdata = pdata;
    AppTickInit();                          /* Initialize the ticker                                   */
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/
    OSTaskCreate(AppTask1, (void *)0, (void *)&AppTask1Stk[254], 10);
    OSTaskNameSet(10, "App Task #1", &err);
    OSTaskCreate(AppTask2, (void *)0, (void *)&AppTask2Stk[254], 20);
    OSTaskNameSet(20, "App Task #2", &err);

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        OSTimeDly(1);                       /* 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)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        AppTask1Ctr++;
        OSTimeDly(1);                       /* 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! -------------------------------------------------------------------*/
        AppTask2Ctr++;
        OSTimeDly(1);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                      TICKER INITIALIZATION
*
* Description : This function is used to initialize one of the timers to generate an
*               interrupt at the desired tick rate.
* Arguments   : none
* Notes 
*********************************************************************************************************
*/

static void AppTickInit (void)
{
    AppTickInitAsm();
}