app_.c

将UCOSII移植到AT91SAM7a3上

/*
*********************************************************************************************************
*                                               uC/OS-II
*                                         The Real-Time Kernel
*
*                             (c) Copyright 1998-2004, Micrium, Weston, FL
*                                          All Rights Reserved
*
*
*                                            ARM Sample code
*
* File : APP.C
* By   : Jean J. Labrosse
*********************************************************************************************************
*/

#include <includes.h>

/*
*********************************************************************************************************
*                                                CONSTANTS
*********************************************************************************************************
*/

#define  TASK_STK_SIZE    128

#define  TASK_START_PRIO    5
#define  TASK_KEY_PRIO      4

/*
*********************************************************************************************************
*                                                VARIABLES
*********************************************************************************************************
*/

OS_STK        	AppStartTaskStk[TASK_STK_SIZE];
OS_STK		AppkeyTaskStk[TASK_STK_SIZE];
INT8U SPEED=50;

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

static  void  AppStartTask(void *p_arg);
static  void  AppkeyTask (void *p_arg);
/*
*********************************************************************************************************
*                                                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
*********************************************************************************************************
*/

//#include "Board.h"
int Symbol[] = { DIGIT_0, DIGIT_1, DIGIT_2, DIGIT_3, DIGIT_4, DIGIT_5, DIGIT_6, DIGIT_7,
    			 DIGIT_8, DIGIT_9, DIGIT_A, DIGIT_B, DIGIT_C, DIGIT_D, DIGIT_E, DIGIT_F};
/* LED segment table */
int Seg[] = { SEGMENT_A, SEGMENT_B, SEGMENT_C, SEGMENT_D, SEGMENT_E, SEGMENT_F, SEGMENT_G, SEGMENT_P};
//----------------------------------------------------------------------------------------------------------
void  SPI_init()
{	
	AT91F_SPI_Open(0);
	AT91F_SPI_CfgCs(AT91C_BASE_SPI,0,(AT91C_SPI_BITS_8 | AT91C_SPI_CSAAT | AT91C_SPI_NCPHA | AT91C_SPI_SCBR));
	AT91F_SPI_CfgMode(AT91C_BASE_SPI,AT91C_SPI_MSTR);
	AT91F_SPI_DisableIt(AT91C_BASE_SPI,0x3f);					// Disable SPI
	AT91F_SPI_Enable(AT91C_BASE_SPI);                           // Enable SPI
}
//---------------------------------------------------------------------------------------------------------
void spi_send(char chr)			
{
	AT91F_SPI_PutChar(AT91C_BASE_SPI,chr,0);                     // send a byte
}

//********************************************************************************************/
void  time_dly(int  dly)
{  
	int  i;

	for(; dly>0; dly--) 
		for(i=0; i<500; i++);
}
//*********************************************************************************************/


//*******************************************************************************************************
void  main (void)
{
    INT8U  err;


    AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;  /* Disable all interrupts                                  */

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

    	err=OSTaskCreateExt(AppStartTask, 
                    (void *)0, 
                    (OS_STK *)&AppStartTaskStk[TASK_STK_SIZE-1], 
                    TASK_START_PRIO, 
                    TASK_START_PRIO,
                    (OS_STK *)&AppStartTaskStk[0],
                    TASK_STK_SIZE,
                    (void *)0,
                    OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
                    
	err=OSTaskCreateExt(AppkeyTask, 
                    (void *)0, 
                    (OS_STK *)&AppkeyTaskStk[TASK_STK_SIZE-1], 
                    TASK_KEY_PRIO, 
                    TASK_KEY_PRIO,
                    (OS_STK *)&AppkeyTaskStk[0],
                    TASK_STK_SIZE,
                    (void *)0,
                    OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
                    
#if OS_TASK_NAME_SIZE > 11                    
    OSTaskNameSet(TASK_START_PRIO, "Start Task", &err);
#endif

#if OS_TASK_NAME_SIZE > 14                    
    OSTaskNameSet(OS_IDLE_PRIO, "uC/OS-II Idle", &err);
#endif

#if (OS_TASK_NAME_SIZE > 14) && (OS_TASK_STAT_EN > 0)                    
    OSTaskNameSet(OS_STAT_PRIO, "uC/OS-II Stat", &err);
#endif

    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   : p_arg   is the argument passed to 'AppStartTask()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'p_arg' 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 *p_arg)
{
    INT8U  i;
    
    
    (void)p_arg;

    BSP_Init();                             /* Initialize BSP functions                                */

#if OS_TASK_STAT_EN > 0
    OSStatInit();                           /* Determine CPU capacity                                  */
#endif

    LED_Off(BSP_LED_ALL);                   /* Turn OFF all the LEDs                                   */
    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        for (i = 2; i <= 4; i++) {	//for (i = 1; i <= 4; i++) {
            LED_On(i);
            OSTimeDlyHMSM(0, 0, 0, SPEED);
            LED_Off(i);
        }
        for (i = 1; i <= 3; i++) {	//for (i = 1; i <= 4; i++) {
            LED_On(5 - i);
            OSTimeDlyHMSM(0, 0, 0, SPEED);
            LED_Off(5 - i);
        }
    }
}

static  void  AppkeyTask (void *p_arg)
{
	volatile INT32U keym=SW_MASK;
	(void)p_arg;
	 
        AT91F_PMC_EnablePeriphClock ( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA ) ;    	// First, enable the clock of the PIO
	AT91F_SPI_CfgPIO();
	AT91F_SPI_CfgPMC();
	
	SPI_init();
	
    	spi_send(~Symbol[(SPEED%100)/10]);

	while(TRUE)
	{
		while(keym==SW_MASK)
		{
			OSTimeDlyHMSM(0, 0, 0, 20);
			keym=*AT91C_PIOA_PDSR;
			keym&=SW_MASK;
		}
		if(keym!=SW_MASK)
		{
			LED_On(1);
			switch (keym)
			{
				case SW1_MASK^SW_MASK:
				{
					if(SPEED<245)
					{
						SPEED+=10;//5;
					}
				}break;
				case SW2_MASK^SW_MASK:
				{
					if(SPEED>5)
					{
						SPEED-=10;//5;
					}
				}break;
				case SW3_MASK^SW_MASK:
				{
					if(SPEED>5)
					{
						SPEED-=10;//5;
					}
				}break;
				case SW4_MASK^SW_MASK:
				{
					if(SPEED<245)
					{
						SPEED+=10;//5;
					}
				}break;
				default:{};
			}	
			spi_send(~Symbol[(SPEED%100)/10]);
			while(keym!=SW_MASK)
			{
				OSTimeDlyHMSM(0, 0, 0, 20);
				keym=*AT91C_PIOA_PDSR;
				keym&=SW_MASK;
			}
			LED_Off(1);
		}
		OSTimeDlyHMSM(0, 0, 0, 20);
	}
}


//******************************************************************************************************