yztask1.c

uCOS在PIC芯片中的移植：以PIC24HJ64GP210为例进行uCOS在Microchip芯片中的移植

#define YZ_TASK
#include <includes.h>

INT8U UDNowDiv,UDAimDiv,UDAimSpd;
INT8U FBNowStr,FBAimStr,FBAimSpd;

void  YZTask(void *p_arg)
{
    void *msg;
    (void)p_arg;
    
    while (TRUE) 
    {  
		OSTimeDlyHMSM(0, 0, 0, 50); 
    }
}

void DivisPointSet(void)
{
}

void PositionMove(INT8U divis,INT8U str,INT8U ud_spd,INT8U fb_spd,INT8U ud_dly,INT8U fb_dly,INT8U bd_chk)
{
	if(divis!=TECH_VOID)
	{
		if(divis==UDNowDiv)
            OSMboxPost(MboxUD_Sur,YZ_MBOX_PST_ARRV);
        else if(ud_spd==TECH_VOID)
        {
        	UDAimSpd=DEFAULT_SPEED_UD;
        }
        else
        {
        	UDAimSpd=ud_spd;
        }
		UDAimDiv=divis;	
	}
	if(str!=TECH_VOID)
	{
		if(str==FBNowStr)
            OSMboxPost(MboxFB_Sur,YZ_MBOX_PST_ARRV);
        else if(fb_spd==TECH_VOID)
        {
        	FBAimSpd=DEFAULT_SPEED_FB;
        }
        else
        {
        	FBAimSpd=fb_spd;
        }
		FBAimStr=str;	
	}
	if(bd_chk!=TECH_VOID)
	{
		if(bd_chk==TECH_SUR_MASSMODE_SHDR_DTCT)
		{
        	OSMboxPend(MboxUD_Sur,0,&Err);
			UDAimDiv=UDNowDiv;
        	OSMboxPost(MboxUD_Sur,YZ_MBOX_PST_ARRV);
        }
		else if(bd_chk==TECH_SUR_MASSMODE_BODY_DTCT)
		{
        	OSMboxPend(MboxFB_Sur,0,&Err);
			FBAimStr=FBNowStr;
        	OSMboxPost(MboxFB_Sur,YZ_MBOX_PST_ARRV);
        }
	}
	if(ud_dly!=TECH_VOID)
	{
		OSTimeDlyHMSM(0, 0, 0,ud_dly); 
		UDAimDiv=UDNowDiv;
        OSMboxPost(MboxUD_Sur,YZ_MBOX_PST_ARRV);
	}
	if(fb_dly!=TECH_VOID)
	{
		OSTimeDlyHMSM(0, 0, 0,fb_dly); 
		FBAimStr=FBNowStr;
        OSMboxPost(MboxFB_Sur,YZ_MBOX_PST_ARRV);
	}
	if(divis!=TECH_VOID)
	{
        OSMboxPend(MboxUD_Sur,0,&Err);
	}
	if(str!=TECH_VOID)
	{
        OSMboxPend(MboxFB_Sur,0,&Err);
	}
	
}

void OneFBAct(void)
{
	if(MsgTech_SurMove.MsgSurTech==TECH_SUR_MASSMODE_BODY_DTCT)
	{
		PositionMove(TECH_VOID,TECH_FB_LIMIT,TECH_VOID,TECH_VOID,MassTech.FrontBackSpeed,TECH_VOID,TECH_VOID,TECH_SUR_MASSMODE_BODY_DTCT);
        
        MsgSurMove_Nose.MsgClass=SUR_TECH_POINT_CHK_FINISH
        OSMboxPost(MboxSurMove_Nose,&MsgSurMove_Nose);
        
        SurPntDist[UDAimDiv-1]=FBNowStr
	}
	else
	{
		PositionMove(TECH_VOID,TECH_FB_SUR,TECH_VOID,TECH_VOID,TECH_VOID,TECH_VOID,TECH_VOID,TECH_VOID);
        
        MsgSurMove_Nose.MsgClass=SUR_TECH_SURFACE_ARRIVE
        OSMboxPost(MboxSurMove_Nose,&MsgSurMove_Nose);
        
        OSMboxPend(MboxTech_SurMove,0,&Err);
        
        conti
		
	}
}