📄 test.c
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/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
* ex4
*
*********************************************************************************************************
*/
#include "includes.h"
/*
*********************************************************************************************************
* CONSTANTS
*********************************************************************************************************
*/
#define TASK_STK_SIZE 512 /* Size of each task's stacks (# of WORDs) */
#define N_TASKS 3 /* Number of tasks which wait for queue1 */
/*
*********************************************************************************************************
* VARIABLES
*********************************************************************************************************
*/
OS_STK TaskStk1[N_TASKS][TASK_STK_SIZE]; /* Tasks stacks */
OS_STK TaskStk2[N_TASKS][TASK_STK_SIZE];
OS_STK TaskStartStk[TASK_STK_SIZE];
OS_STK TaskConStk[TASK_STK_SIZE];
INT8U TaskData1[N_TASKS]; /* Parameters to pass to each task */
INT8U TaskData2[N_TASKS];
OS_EVENT *q1; /* 2 queue */
OS_EVENT *q2;
void *Msg1[6]; /* 2 arry for msg */
void *Msg2[6];
/*
*********************************************************************************************************
* FUNCTION PROTOTYPES
*********************************************************************************************************
*/
void Taskq1(void *pdata); /* Function prototypes of taskq1s */
void Taskq2(void *pdata); /* Function prototypes of taskq2s */
void TaskStart(void *pdata); /* Function prototypes of Startup task */
void TaskCon(void *pdata); /* Function prototypes of Control task */
static void TaskStartCreateTasks(void);
static void TaskStartDispInit(void);
/*$PAGE*/
/*
*********************************************************************************************************
* MAIN
*********************************************************************************************************
*/
void main (void)
{
INT8U err; /* for setting the mutex */
PC_DispClrScr(DISP_FGND_WHITE + DISP_BGND_BLACK); /* Clear the screen */
OSInit(); /* Initialize uC/OS-II */
PC_DOSSaveReturn(); /* Save environment to return to DOS */
PC_VectSet(uCOS, OSCtxSw); /* Install uC/OS-II's context switch vector */
//创建消息队列
q1 = OSQCreate(&Msg1[0],6); /* set a queue , 6 is the capacity */
q2 = OSQCreate(&Msg2[0],6); /* set a queue , 6 is the capacity */
OSTaskCreate(TaskStart, (void *)0, &TaskStartStk[TASK_STK_SIZE - 1], 0);
OSStart(); /* Start multitasking */
}
/*
*********************************************************************************************************
* STARTUP TASK
*********************************************************************************************************
*/
void TaskStart (void *pdata)
{
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr;
#endif
INT16S key;
pdata = pdata; /* Prevent compiler warning */
TaskStartDispInit(); /* Initialize the display */
OS_ENTER_CRITICAL();
PC_VectSet(0x08, OSTickISR); /* Install uC/OS-II's clock tick ISR */
PC_SetTickRate(OS_TICKS_PER_SEC); /* Reprogram tick rate */
OS_EXIT_CRITICAL();
OSStatInit(); /* Initialize uC/OS-II's statistics */
TaskStartCreateTasks(); /* Create all the application tasks */
for (;;) {
if (PC_GetKey(&key) == TRUE) { /* See if key has been pressed */
if (key == 0x1B) { /* Yes, see if it's the ESCAPE key */
PC_DOSReturn(); /* Return to DOS */
}
}
OSTimeDlyHMSM(0, 0, 10, 0); /* Wait ten second */
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZE THE DISPLAY
*********************************************************************************************************
*/
static void TaskStartDispInit (void)
{
/* 1111111111222222222233333333334444444444555555555566666666667777777777 */
/* 01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
PC_DispStr( 0, 0, " uC/OS-II, The Real-Time Kernel ", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
PC_DispStr( 0, 1, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 2, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 3, " Example #4 Queue ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 4, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 5, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 6, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 7, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 8, "Task0() : ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 9, "Task1() : ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 10, "Task2() : ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 11, "Task3() : ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 12, "Task4() : ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 13, "Task5() : ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 14, "TaskCon() : ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 15, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 16, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 17, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 18, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 19, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 20, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 21, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 22, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 23, " <-PRESS 'ESC' TO QUIT-> ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY + DISP_BLINK);
/* 1111111111222222222233333333334444444444555555555566666666667777777777 */
/* 01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
}
/*$PAGE*/
/*
*********************************************************************************************************
* CREATE TASKS
*********************************************************************************************************
*/
static void TaskStartCreateTasks (void)
{
INT8U i;
//创建三个接收消息队列一的任务
for (i = 0; i <N_TASKS; i++) { /* Create N_TASKS identical tasks */
TaskData1[i] = i; /* Each task will pass its own id */
OSTaskCreate(Taskq1, (void *)&TaskData1[i], &TaskStk1[i][TASK_STK_SIZE - 1], i+1);
}
//创建三个接收消息队列2的任务
for (i = 0; i <N_TASKS; i++) { /* Create N_TASKS identical tasks */
TaskData2[i] = i; /* Each task will pass its own id */
OSTaskCreate(Taskq2, (void *)&TaskData2[i], &TaskStk2[i][TASK_STK_SIZE - 1], i+4);
}
//创建发送消息任务
OSTaskCreate(TaskCon, (void *)0, &TaskConStk[TASK_STK_SIZE - 1], i+4);
/* Create control tasks */
}
/*
*********************************************************************************************************
* TASKq1
*********************************************************************************************************
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