📄 massapp.c
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/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
* (c) Copyright 1998-2005, Micrium, Weston, FL
* All Rights Reserved
*
*
* Microchip Application Code
*
* File : MassApp.C
* By : tbh080602
*********************************************************************************************************
*/
#include <includes.h>
/*
*********************************************************************************************************
* CONSTANTS
*********************************************************************************************************
*/
/*
*********************************************************************************************************
* VARIABLES
*********************************************************************************************************
*/
OS_STK AppStartTaskStk[APP_TASK_START_STK_SIZE];
OS_EVENT *MboxRx_Finish,*MboxTx_Finish,*MboxCN_Width,*MboxCmd_TechStart,
*MboxTech_Finish,*MboxTech_SurMove,*MboxTech_Momi,*MboxTech_Tataki,
*MboxSurMove_Nose,*MboxMomi_Finish,*MboxTataki_Finish,*MboxUD_Sur,*MboxFB_Sur;
//INT8U MsgCN_Width;//电平变化中断处理向揉捏处理任务发送的宽度通知，取值与手技指令中的相关取值相同
MSG_TECH_SUR_STRUCT MsgTech_SurMove;//手技处理任务向升降出退任务发送的升降出退命令
MSG_SUR_TECH_STRUCT MsgSurMove_Nose;//升降出退任务向手技处理任务发送升降出退状态通知
MSG_TECH_MOMI_STRUCT MsgTech_Momi;//手技处理任务向揉捏处理任务发送揉捏命令
MSG_TECH_TATAKI_STRUCT MsgTech_Tataki;//手技处理任务向捶打处理任务发送捶打命令
/*
*********************************************************************************************************
* FUNCTION PROTOTYPES
*********************************************************************************************************
*/
static void AppStartTask(void *p_arg);
#if OS_VIEW_MODULE > 0
static void AppTerminalRx(INT8U rx_data);
#endif
/*
*********************************************************************************************************
* 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
*********************************************************************************************************
*/
INT16S main (void)
{
BSP_IntDisAll(); /* Disable all interrupts until we are ready to accept them */
OSInit(); /* Initialize "uC/OS-II, The Real-Time Kernel" */
OSTaskCreateExt(AppStartTask,
(void *)0,
(OS_STK *)&AppStartTaskStk[0],
APP_TASK_START_PRIO,
APP_TASK_START_PRIO,
(OS_STK *)&AppStartTaskStk[APP_TASK_START_STK_SIZE-1],
APP_TASK_START_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
#if OS_TASK_NAME_SIZE > 11
OSTaskNameSet(APP_TASK_START_PRIO, "AppStartTask", &Err);
#endif
OSStart(); /* Start multitasking (i.e. give control to uC/OS-II) */
return (-1); /* Return an error - This line of code is unreachable */
}
/*$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()'.
* Mboxs : 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()'.
*********************************************************************************************************
*/
//void Test(INT8U (*prog1)(INT8U),INT8U *prog2(INT8U),INT8U prog3(),void *prog4(),INT8U prog5(INT8U))
//{
// INT8U b;
// b=(*prog1)(2);
// b=(*prog2)(2);//warning: assignment makes integer from pointer without a cast
// b=(*prog3)(8);
// b=(*prog4)(8);//warning: assignment makes integer from pointer without a cast
// b=(*prog5)(2);
// b=prog1(2);
// b=prog2(2);//warning: assignment makes integer from pointer without a cast
// b=prog3(8);
// b=prog4(8);//warning: assignment makes integer from pointer without a cast
// b=prog5(2);
// //b=*prog1(2);//error: invalid type argument of 'unary *'
// b=*prog2(2);//AS b=*(prog2(8))
// //b=*prog3(8);//error: invalid type argument of 'unary *'
// //b=*prog4(8);//error: void value not ignored as it ought to be
// //b=*prog5(2);//error: invalid type argument of 'unary *'
//}
//INT8U test1(INT8U i)
//{
// return(++i);
//}
//INT8U test2(INT8U i)
//{
// return(i++);
//}
//void test3(INT8U *i,INT8U *j)
//{
// *i=*j;
//}
static void AppStartTask (void *p_arg)
{
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
#if OS_TASK_STAT_EN > 0
OSStatInit(); /* Determine CPU capacity */
#endif
#if OS_VIEW_MODULE > 0
OSView_Init();
OSView_TerminalRxSetCallback(AppTerminalRx);
#endif
MboxRx_Finish=OSMboxCreate((void*)0);//接收中断处理向指令处理任务发送本数据包接收完成通知的邮箱
OSEventNameSet(MboxRx_Finish,(INT8U *)"Rx_Cmd",&Err);
MboxTx_Finish=OSMboxCreate((void*)1);//发送中断处理向指令处理任务发送本数据包发送完成通知的邮箱，由于复位时不需等待发送中断发送信息，故应初始化为非空
OSEventNameSet(MboxTx_Finish,(INT8U *)"Tx_Cmd",&Err);
MboxCN_Width=OSMboxCreate((void*)0);//电平变化中断处理向揉捏处理任务发送宽度通知的邮箱
OSEventNameSet(MboxCN_Width,(INT8U *)"CN_Momi",&Err);
MboxCmd_TechStart=OSMboxCreate((void*)0);//指令处理任务向手技处理任务发送手技开始命令的邮箱
OSEventNameSet(MboxCmd_TechStart,(INT8U *)"Cmd_Tech",&Err);
MboxTech_Finish=OSMboxCreate((void*)0);//手技处理任务向指令处理任务发送手技完成通知的邮箱(预留.不能在指令处理中等待手技完成,因为要实时相应接收的其它指令)
OSEventNameSet(MboxTech_Finish,(INT8U *)"Tech_Finish",&Err);
MboxTech_SurMove=OSMboxCreate((void*)0);//手技处理任务向升降出退任务发送升降出退命令的邮箱
OSEventNameSet(MboxTech_SurMove,(INT8U *)"Tech_Sur",&Err);
MboxTech_Momi=OSMboxCreate((void*)0);//手技处理任务向揉捏处理任务发送揉捏命令的邮箱
OSEventNameSet(MboxTech_Momi,(INT8U *)"Tech_Momi",&Err);
MboxTech_Tataki=OSMboxCreate((void*)0);//手技处理任务向捶打处理任务发送捶打命令的邮箱
OSEventNameSet(MboxTech_Tataki,(INT8U *)"Tech_Tataki",&Err);
MboxSurMove_Nose=OSMboxCreate((void*)0);//升降出退任务向手技处理任务发送升降出退状态通知的邮箱
OSEventNameSet(MboxSurMove_Nose,(INT8U *)"Sur_Tech",&Err);
MboxMomi_Finish=OSMboxCreate((void*)0);//揉捏处理任务向手技处理任务发送揉捏完成通知的邮箱
OSEventNameSet(MboxMomi_Finish,(INT8U *)"Momi_Tech",&Err);
MboxTataki_Finish=OSMboxCreate((void*)0);//捶打处理任务向手技处理任务发送捶打完成通知的邮箱
OSEventNameSet(MboxTataki_Finish,(INT8U *)"Tataki_Tech",&Err);
MboxUD_Sur=OSMboxCreate((void*)0);
OSEventNameSet(MboxUD_Sur,(INT8U *)"UD_Sur",&Err);
MboxFB_Sur=OSMboxCreate((void*)0);
OSEventNameSet(MboxFB_Sur,(INT8U *)"FB_Sur",&Err);
MASS_TXSTART((INT8U*)"#4\n"); //发送复位字符
//TaskStartCreateTasks();
{
// static int a=10,b=1,c=0,d=0,*adr=(int*)0x1000;
// c=a+++b;
// d=a++;
// *adr=0xaaaa;
// SETUP_MOMI_CW(10);
// OSTimeDlyHMSM(0, 0, 0, 100);
// SETUP_MOMI_CW(TECH_SPEED_STOP);
// OSTimeDlyHMSM(0, 0, 0, 100);
// SETUP_MOMI_CW(10);
// OSTimeDlyHMSM(0, 0, 0, 100);
// SETUP_MOMI_CW(TECH_SPEED_STOP);
// OSTimeDlyHMSM(0, 0, 0, 100);
// SETUP_MOMI_CCW(10);
// OSTimeDlyHMSM(0, 0, 0, 100);
// SETUP_MOMI_CCW(3);
// OSTimeDlyHMSM(0, 0, 0, 100);
// SETUP_MOMI_CW(10);
// Test(test1,test2,test1,test2,test1);//warning: passing argument 2,3,4 of 'Test' from incompatible pointer type
//INT16U a=TtkKeepTimeTab[8];
//INT16U t=TICKS(a);
// INT8U *a,b=100;
// INT16S c=0x8266;
// b = (INT8U)(((INT32U)c >> 16) & 0x7F);
//test3(a,&b);
}
CmdAnalyse ();
}
/*
*********************************************************************************************************
* TERMINAL WINDOW CALLBACK
*********************************************************************************************************
*/
#if OS_VIEW_MODULE > 0
static void AppTerminalRx (INT8U rx_data)
{
}
#endif
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