scheduler.c

基于freescale MC9S12XF512 MCU

/*******************************************************************************/
/**
Copyright (c) 2007 Freescale Semiconductor
Freescale Confidential Proprietary
\file       Scheduler.c
\brief      Task scheduler.
\author     Freescale Semiconductor
\author     Guadalajara Applications Laboratory RTAC Americas
\author     Jaime Orozco
\version    1.0
\date       March/12/2007
*/
/*******************************************************************************/
/*                                                                             */
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/* CONFIDENTIAL INFORMATION.                                                   */
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/*                                                                             */
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/*******************************************************************************/

/** S12X derivative information */ 
#include "M9S12XF512.h"     

/** Macro definitions for general purpose I/O handling  */
#include "GPIO_macros.h"

/** Variable types and common definitions */
#include "typedefs.h"   

/** FlexRay UNIFIED driver function prototypes  */
#include "Fr_UNIFIED.h"

/** FlexRay handler function prototypes  */
#include "FlexRay_handler.h"


/*******************************************************************************/
/**
* \brief    Scheduler - Real Time Interrupt service routine
* \author   Jaime Orozco
* \param    u8Task: Code associated to a task
* \return   void
*/
UINT8 u8Scheduler(UINT8 u8Task)
{                
        switch (u8Task)    /* Scheduler */
        {
            case 2:        
                LED_TOGGLE(D24);    /* Toggle indicators */            
                LED_TOGGLE(D26);  
                                                         
                LED_ON(D22);    /* Set indicators */            
                LED_ON(D27);
                LED_ON(D29);
                break;
                
            case 4:                                                
                LED_OFF(D22);   /* Clear indicators */
                LED_OFF(D27);
                LED_OFF(D29);                                                                                                  
                
                LED_ON(D23);    /* Set indicators */            
                LED_ON(D25);
                LED_ON(D28);  
                
                /* Reset the FlexRay module to send wake-up frames */       
                Fr_reset_protocol_engine();  
                vfnFlexRay_Init();      
                                              
                break;
                
            case 6: 
                LED_OFF(D23);    /* Clear indicators */            
                LED_OFF(D25);
                LED_OFF(D28);  
                
                LED_TOGGLE(D24);    /* Toggle indicators */            
                LED_TOGGLE(D26);  
                                  
                u8Task = 0;     /* Initialize the task code */                                              
                break;
                
            default:                                                    
                break;                  
        }        
        return u8Task+1;        /* Return the updated task code */                
}

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