main.c

这是一个FreeRTOS(V511)的移植程序,MCU为FREESCALE公司的MC9S08AW60

#include <hidef.h> /* for EnableInterrupts macro */
#include "MC9S08AW60.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "portable.h"

#define MY_PRIORITY1		( tskIDLE_PRIORITY + 6 )
#define MY_PRIORITY2		( tskIDLE_PRIORITY + 4 )
#define MY_PRIORITY3		( tskIDLE_PRIORITY + 2 )
#define MY_PRIORITY4		( tskIDLE_PRIORITY + 8 )
static void my_task1  ( void* pvParameters );
static void my_task2  ( void* pvParameters );
static void my_task3  ( void* pvParameters );
static void my_task4  ( void* pvParameters );
void MCU_Init(void);//系统时钟初始化
void main(void) 
{
  MCU_Init();//系统时钟初始化
  EnableInterrupts; /* enable interrupts */
  PTADD=0XFF;
  PTAD=0X00;
  /* include your code here */
   xTaskCreate( my_task1, "task1", configMINIMAL_STACK_SIZE, NULL, MY_PRIORITY1, NULL );
   xTaskCreate( my_task2, "task2", configMINIMAL_STACK_SIZE, NULL, MY_PRIORITY2, NULL );
   xTaskCreate( my_task3, "task3", configMINIMAL_STACK_SIZE, NULL, MY_PRIORITY3, NULL );
   xTaskCreate( my_task4, "task4", configMINIMAL_STACK_SIZE, NULL, MY_PRIORITY4, NULL );
   vTaskStartScheduler();//开始任务调度


//    __RESET_WATCHDOG(); /* feeds the dog */

}
//======================系统时钟初始化==================
void MCU_Init() 
{
      ICGC1=0X78; //使用外部4MHz晶振
      ICGC2=0x30;  //启动PLL倍频CPU=40MHz; 总线=20MHz
      while(ICGS1_LOCK==0) {}  ;//等待PLL稳定
      SOPT_COPE=0;//关闭看门狗,若想使能看门狗删除该指令即可
}
//==================系统任务1=========================
static void my_task1  ( void* pvParameters ) 
{
 int i;
  for(;;) 
  {
    i++;
    PTAD_PTAD1=~PTAD_PTAD1;
    vTaskDelay(200);
  }
}
//==================系统任务2========================
static void my_task2  ( void* pvParameters ) 
{
 int i;
  for(;;) 
  {
    i++;
    PTAD_PTAD3=~PTAD_PTAD3;
    vTaskDelay(500);
  }
}
//==================系统任务3=========================
static void my_task3  ( void* pvParameters ) 
{int i;
  for(;;) 
  {
//    __RESET_WATCHDOG(); /* feeds the dog */
    i++;
    PTAD_PTAD5=~PTAD_PTAD5;
    vTaskDelay(100);
  }
}
//==================系统任务3=========================
static void my_task4  ( void* pvParameters ) 
{int i;
  for(;;) 
  {
//    __RESET_WATCHDOG(); /* feeds the dog */
    i++;
    PTAD_PTAD7=~PTAD_PTAD7;
    vTaskDelay(1000);
  }
}