📄 app.c
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/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
* (c) Copyright 1998-2004, Micrium, Weston, FL
* All Rights Reserved
*
*
* ARM Sample code
*
* File : APP.C
* By : Jean J. Labrosse
*********************************************************************************************************
*/
#include <includes.h>
/*
*********************************************************************************************************
* CONSTANTS
*********************************************************************************************************
*/
#define TASK_STK_SIZE 128
#define TASK_START_PRIO 5
#define TASK_1_PRIO 10
#define TASK_2_PRIO 12
#define TASK_3_PRIO 14
#define TASK_4_PRIO 16
#define TASK_5_PRIO 18
#define TASK_6_PRIO 20
#define TASK_7_PRIO 22
#define TASK_8_PRIO 24
#define TASK_9_PRIO 26
#define TASK_A_PRIO 28
#define TASK_B_PRIO 30
#define TASK_C_PRIO 32
#define TASK_D_PRIO 34
#define TASK_E_PRIO 36
#define TASK_F_PRIO 38
#define MUTEX_PIP_1 8
#define MUTEX_PIP_2 9
#define EVENT_Q_1_SIZE 10
#define EVENT_Q_2_SIZE 20
#define MEM_BLKS_1 10
#define MEM_BLK_SIZE_1 8
#define MEM_BLKS_2 8
#define MEM_BLK_SIZE_2 12
/*
*********************************************************************************************************
* VARIABLES
*********************************************************************************************************
*/
OS_STK AppStartTaskStk[TASK_STK_SIZE];
OS_STK AppTask1Stk[TASK_STK_SIZE];
OS_STK AppTask2Stk[TASK_STK_SIZE];
OS_STK AppTask3Stk[TASK_STK_SIZE];
OS_STK AppTask4Stk[TASK_STK_SIZE];
OS_STK AppTask5Stk[TASK_STK_SIZE];
OS_STK AppTask6Stk[TASK_STK_SIZE];
OS_STK AppTask7Stk[TASK_STK_SIZE];
OS_STK AppTask8Stk[TASK_STK_SIZE];
OS_STK AppTask9Stk[TASK_STK_SIZE];
OS_STK AppTaskAStk[TASK_STK_SIZE];
OS_STK AppTaskBStk[TASK_STK_SIZE];
OS_STK AppTaskCStk[TASK_STK_SIZE];
OS_STK AppTaskDStk[TASK_STK_SIZE];
OS_STK AppTaskEStk[TASK_STK_SIZE];
OS_STK AppTaskFStk[TASK_STK_SIZE];
INT16U AppTask1Ctr;
INT16U AppTask2Ctr;
INT16U AppTask3Ctr;
INT16U AppTask4Ctr;
INT16U AppTask5Ctr;
INT16U AppTask6Ctr;
INT16U AppTask7Ctr;
INT16U AppTask8Ctr;
INT16U AppTask9Ctr;
INT16U AppTaskACtr;
INT16U AppTaskBCtr;
INT16U AppTaskCCtr;
INT16U AppTaskDCtr;
INT16U AppTaskECtr;
INT16U AppTaskFCtr;
#if OS_SEM_EN > 0
OS_EVENT *EventSem1;
OS_EVENT *EventSem2;
#endif
#if OS_MBOX_EN > 0
OS_EVENT *EventMbox1;
OS_EVENT *EventMbox2;
#endif
#if OS_Q_EN > 0
OS_EVENT *EventQ1;
OS_EVENT *EventQ2;
void *EventQTbl1[EVENT_Q_1_SIZE];
void *EventQTbl2[EVENT_Q_2_SIZE];
#endif
#if OS_MUTEX_EN > 0
OS_EVENT *EventMutex1;
OS_EVENT *EventMutex2;
#endif
#if OS_FLAG_EN > 0
OS_FLAG_GRP *FlagGrp1;
OS_FLAG_GRP *FlagGrp2;
#endif
#if OS_MEM_EN > 0
OS_MEM *MemPart1;
OS_MEM *MemPart2;
INT32U MemPart1Tbl[MEM_BLKS_1][MEM_BLK_SIZE_1/sizeof(INT32U)];
INT32U MemPart2Tbl[MEM_BLKS_2][MEM_BLK_SIZE_2/sizeof(INT32U)];
#endif
/*
*********************************************************************************************************
* FUNCTION PROTOTYPES
*********************************************************************************************************
*/
static void AppStartTask(void *p_arg);
static void AppTaskCreate(void);
static void AppEventCreate(void);
static void AppTask1(void *p_arg);
static void AppTask2(void *p_arg);
static void AppTask3(void *p_arg);
static void AppTask4(void *p_arg);
static void AppTask5(void *p_arg);
static void AppTask6(void *p_arg);
static void AppTask7(void *p_arg);
static void AppTask8(void *p_arg);
static void AppTask9(void *p_arg);
static void AppTaskA(void *p_arg);
static void AppTaskB(void *p_arg);
static void AppTaskC(void *p_arg);
static void AppTaskD(void *p_arg);
static void AppTaskE(void *p_arg);
static void AppTaskF(void *p_arg);
/*
*********************************************************************************************************
* 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
*********************************************************************************************************
*/
void main (void)
{
INT8U err;
OSInit(); /* Initialize "uC/OS-II, The Real-Time Kernel" */
OSTaskCreateExt(AppStartTask,
(void *)0,
(OS_STK *)&AppStartTaskStk[TASK_STK_SIZE-1],
TASK_START_PRIO,
TASK_START_PRIO,
(OS_STK *)&AppStartTaskStk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
#if OS_TASK_NAME_SIZE > 11
OSTaskNameSet(TASK_START_PRIO, "Start Task", &err);
#endif
#if OS_TASK_NAME_SIZE > 14
OSTaskNameSet(OS_IDLE_PRIO, "uC/OS-II Idle", &err);
#endif
#if (OS_TASK_NAME_SIZE > 14) && (OS_TASK_STAT_EN > 0)
OSTaskNameSet(OS_STAT_PRIO, "uC/OS-II Stat", &err);
#endif
OSStart(); /* Start multitasking (i.e. give control to uC/OS-II) */
}
/*$PAGE*/
/*
*********************************************************************************************************
* STARTUP TASK
*
* Description : This is an example of a startup task. As mentioned in the book's text, you MUST
* initialize the ticker only once multitasking has started.
* Arguments : p_arg is the argument passed to 'AppStartTask()' by 'OSTaskCreate()'.
* Notes : 1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
* 2) Interrupts are enabled once the task start because the I-bit of the CCR register was
* set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************
*/
static void AppStartTask (void *p_arg)
{
p_arg = p_arg;
BSP_Init(); /* Initialize BSP functions */
#if OS_TASK_STAT_EN > 0
OSStatInit(); /* Determine CPU capacity */
#endif
AppEventCreate(); /* Create the application's kernel objects */
AppTaskCreate(); /* Create the other application tasks */
LED_Off(0); /* Turn OFF all the LEDs */
while (TRUE) { /* Task body, always written as an infinite loop. */
LED_On(1);
OSTimeDlyHMSM(0, 0, 0, 100);
LED_Off(1);
OSTimeDlyHMSM(0, 0, 0, 100);
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* CREATE APPLICATION TASKS
*
* Description : none
* Arguments : none
* Notes : none
*********************************************************************************************************
*/
static void AppTaskCreate (void)
{
INT8U err;
OSTaskCreateExt(AppTask1,
(void *)0,
(OS_STK *)&AppTask1Stk[TASK_STK_SIZE-1],
TASK_1_PRIO,
TASK_1_PRIO,
(OS_STK *)&AppTask1Stk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_1_PRIO, "Serial #1", &err);
OSTaskCreateExt(AppTask2,
(void *)0,
(OS_STK *)&AppTask2Stk[TASK_STK_SIZE-1],
TASK_2_PRIO,
TASK_2_PRIO,
(OS_STK *)&AppTask2Stk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_2_PRIO, "Serial #2", &err);
OSTaskCreateExt(AppTask3,
(void *)0,
(OS_STK *)&AppTask3Stk[TASK_STK_SIZE-1],
TASK_3_PRIO,
TASK_3_PRIO,
(OS_STK *)&AppTask3Stk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_3_PRIO, "Display", &err);
OSTaskCreateExt(AppTask4,
(void *)0,
(OS_STK *)&AppTask4Stk[TASK_STK_SIZE-1],
TASK_4_PRIO,
TASK_4_PRIO,
(OS_STK *)&AppTask4Stk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_4_PRIO, "PID Control", &err);
OSTaskCreateExt(AppTask5,
(void *)0,
(OS_STK *)&AppTask5Stk[TASK_STK_SIZE-1],
TASK_5_PRIO,
TASK_5_PRIO,
(OS_STK *)&AppTask5Stk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_5_PRIO, "Network", &err);
OSTaskCreateExt(AppTask6,
(void *)0,
(OS_STK *)&AppTask6Stk[TASK_STK_SIZE-1],
TASK_6_PRIO,
TASK_6_PRIO,
(OS_STK *)&AppTask6Stk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_6_PRIO, "Keyboard", &err);
OSTaskCreateExt(AppTask7,
(void *)0,
(OS_STK *)&AppTask7Stk[TASK_STK_SIZE-1],
TASK_7_PRIO,
TASK_7_PRIO,
(OS_STK *)&AppTask7Stk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_7_PRIO, "Analog In", &err);
OSTaskCreateExt(AppTask8,
(void *)0,
(OS_STK *)&AppTask8Stk[TASK_STK_SIZE-1],
TASK_8_PRIO,
TASK_8_PRIO,
(OS_STK *)&AppTask8Stk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_8_PRIO, "Discrete I/O", &err);
OSTaskCreateExt(AppTask9,
(void *)0,
(OS_STK *)&AppTask9Stk[TASK_STK_SIZE-1],
TASK_9_PRIO,
TASK_9_PRIO,
(OS_STK *)&AppTask9Stk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_9_PRIO, "User #1", &err);
OSTaskCreateExt(AppTaskA,
(void *)0,
(OS_STK *)&AppTaskAStk[TASK_STK_SIZE-1],
TASK_A_PRIO,
TASK_A_PRIO,
(OS_STK *)&AppTaskAStk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_A_PRIO, "Modbus", &err);
OSTaskCreateExt(AppTaskB,
(void *)0,
(OS_STK *)&AppTaskBStk[TASK_STK_SIZE-1],
TASK_B_PRIO,
TASK_B_PRIO,
(OS_STK *)&AppTaskBStk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_B_PRIO, "GPS", &err);
OSTaskCreateExt(AppTaskC,
(void *)0,
(OS_STK *)&AppTaskCStk[TASK_STK_SIZE-1],
TASK_C_PRIO,
TASK_C_PRIO,
(OS_STK *)&AppTaskCStk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_C_PRIO, "Task C", &err);
OSTaskCreateExt(AppTaskD,
(void *)0,
(OS_STK *)&AppTaskDStk[TASK_STK_SIZE-1],
TASK_D_PRIO,
TASK_D_PRIO,
(OS_STK *)&AppTaskDStk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_D_PRIO, "Task D", &err);
OSTaskCreateExt(AppTaskE,
(void *)0,
(OS_STK *)&AppTaskEStk[TASK_STK_SIZE-1],
TASK_E_PRIO,
TASK_E_PRIO,
(OS_STK *)&AppTaskEStk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_E_PRIO, "Task E", &err);
OSTaskCreateExt(AppTaskF,
(void *)0,
(OS_STK *)&AppTaskFStk[TASK_STK_SIZE-1],
TASK_F_PRIO,
TASK_F_PRIO,
(OS_STK *)&AppTaskFStk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSTaskNameSet(TASK_F_PRIO, "Task F", &err);
}
/*
*********************************************************************************************************
* CREATE EVENTS
*
* Description : This function creates semaphores, mailboxes, queues, mutexes and event flags.
* Arguments : none
* Notes : none
*********************************************************************************************************
*/
static void AppEventCreate (void)
{
INT8U err;
#if OS_SEM_EN > 0
EventSem1 = OSSemCreate(1);
OSEventNameSet(EventSem1, "Sem. #1", &err);
EventSem2 = OSSemCreate(1);
OSEventNameSet(EventSem2, "Sem. #2", &err);
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