appli.c

ucos在atmel cpu上的移植案例

/****************************************************************************
 *    Appli.c
 *    Implementation of a simple led blink program with Ucos on a EB01
 *    Task1 : Red   Led blink 
 *    Task2 : Amber Led blink 
 *    Task3 : Green Led blink 
 *
 * - 1.0  21/08/00  EL     : Creation
 ***************************************************************************/

#include "includes.h"


#include    "parts/m40400/lib_m40400.h"
#include    "parts/m40400/reg_m40400.h"
#include    "targets/eb01/eb01.h"


/* allocate memory for tasks' stacks */
#define STACKSIZE 64

/* Global Variable */
unsigned int Stack1[STACKSIZE];
unsigned int Stack2[STACKSIZE];
unsigned int Stack3[STACKSIZE];
unsigned int Stack4[STACKSIZE];

//*----------------------------------------------------------------------------
//* Function Name       : Task1
//* Object              : Red Led blink (50ms)
//* Input Parameters    : none
//* Output Parameters   : none
//*----------------------------------------------------------------------------
void Task1(void *i)
{
    while(1)
    {           
	/* set LED */
	at91_pio_write (&PIO_DESC, LED1, PIO_CLEAR_OUT ) ;
            
        /* wait a short while */
        OSTimeDly(5);
	
	
	/* clear LED */
        at91_pio_write (&PIO_DESC, LED1, PIO_SET_OUT ) ;   

        /* wait a short while */
        OSTimeDly(5);          
    }
}

//*----------------------------------------------------------------------------
//* Function Name       : Task2
//* Object              : Amber Led blink (80ms)
//* Input Parameters    : none
//* Output Parameters   : none
//*----------------------------------------------------------------------------
void Task2(void *i)
{
    while(1)
    {
      	/* set LED */
	at91_pio_write (&PIO_DESC, LED2, PIO_CLEAR_OUT ) ;
       
	/* wait a short while */
        OSTimeDly(8);
        
	/* clear LED */
	at91_pio_write (&PIO_DESC, LED2, PIO_SET_OUT ) ;

        /* wait a short while */
        OSTimeDly(8);        
    }
}


//*----------------------------------------------------------------------------
//* Function Name       : Task3
//* Object              : Green Led blink (200ms)
//* Input Parameters    : none
//* Output Parameters   : none
//*----------------------------------------------------------------------------
void Task3(void *i)
{
    while(1)
    {
       
	/* set LED */
	at91_pio_write (&PIO_DESC, LED3, PIO_CLEAR_OUT ) ;
        
	/* wait a short while */
        OSTimeDly(20);
        
	/* clear LED */
	at91_pio_write (&PIO_DESC, LED3, PIO_SET_OUT ) ;

        /* wait a short while */
        OSTimeDly(20);  
    }    
}


//*----------------------------------------------------------------------------
//* Function Name       : TaskStart
//* Object              : First created task with lower priority
//*			: Enable timer interrupt
//*			: Creation of the other tasks 
//* Input Parameters    : Task creation arguments
//* Output Parameters   : none
//*----------------------------------------------------------------------------
void TaskStart (void *i)
{

     char Id1 = '1';
     char Id2 = '2';
     char Id3 = '3';

     TC0_IER = TC_CPCS;            // enable timer counter interrupt
                
     /*
     * create the tasks in uC/OS and assign decreasing
     * priority to them
     */

    OSTaskCreate(Task1, &Id1, &Stack1[STACKSIZE - 1], 2);
    OSTaskCreate(Task2, &Id2, &Stack2[STACKSIZE - 1], 3);
    OSTaskCreate(Task3, &Id3, &Stack3[STACKSIZE - 1], 4);

    // Delete current task
    OSTaskDel(OS_PRIO_SELF);
}

//*----------------------------------------------------------------------------
//* Function Name       : SystemInitialization
//* Object              : Setup timer interrupt every 10ms 
//* Input Parameters    : none
//* Output Parameters   : none
//*----------------------------------------------------------------------------
void SystemInitialization (void)
{
u_int timer_value[3] = {0,0,40000};   // 10ms

    //* define led at PIO output
    at91_pio_open ( &PIO_DESC, LED_MASK, PIO_OUTPUT );

    //* define switch at PIO input
    at91_pio_open ( &PIO_DESC, SW_MASK, PIO_INPUT );

    //* Timer initialization
    at91_tc_open(&TC0_DESC, TC_WAVE|TC_CPCTRG|TC_CLKS_MCK8,0,0);

    at91_tc_write(&TC0_DESC, timer_value);

    at91_tc_trig_cmd(&TC0_DESC, TC_TRIG_CHANNEL);

    at91_irq_open(TC0_DESC.periph_id, 7, AIC_SRCTYPE_INT_EDGE_TRIGGERED, OSTickISR); 
}


//*----------------------------------------------------------------------------
//* Function Name       : main
//* Object              : Main function 
//* Input Parameters    : none
//* Output Parameters   : none
//*----------------------------------------------------------------------------
int main( void )
{

char Id4 = '4';

    /* Hardware and software module related initializations */
    SystemInitialization();
     
    /* needed by uC/OS */
    OSInit();

    OSTimeSet(0);

    /* create the start task */
    OSTaskCreate(TaskStart, &Id4, &Stack4[STACKSIZE - 1], 6);

    /* start the operating system */
    OSStart();
    return(0);

//* End
}