📄 ex3l.c
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/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
* (c) Copyright 1992-1998, Jean J. Labrosse, Plantation, FL
* All Rights Reserved
*
* V2.00
*
* EXAMPLE #3
*********************************************************************************************************
*/
#define EX3_GLOBALS
#include "includes.h"
/*
*********************************************************************************************************
* CONSTANTS
*********************************************************************************************************
*/
#define TASK_STK_SIZE 512 /* Size of each task's stacks (# of WORDs) */
#define TASK_START_ID 0 /* Application tasks */
#define TASK_CLK_ID 1
#define TASK_1_ID 2
#define TASK_2_ID 3
#define TASK_3_ID 4
#define TASK_4_ID 5
#define TASK_5_ID 6
#define TASK_START_PRIO 10 /* Application tasks priorities */
#define TASK_CLK_PRIO 11
#define TASK_1_PRIO 12
#define TASK_2_PRIO 13
#define TASK_3_PRIO 14
#define TASK_4_PRIO 15
#define TASK_5_PRIO 16
#define MSG_QUEUE_SIZE 20 /* Size of message queue used in example */
/*$PAGE*/
/*
*********************************************************************************************************
* VARIABLES
*********************************************************************************************************
*/
OS_STK TaskStartStk[TASK_STK_SIZE]; /* Startup task stack */
OS_STK TaskClkStk[TASK_STK_SIZE]; /* Clock task stack */
OS_STK Task1Stk[TASK_STK_SIZE]; /* Task #1 task stack */
OS_STK Task2Stk[TASK_STK_SIZE]; /* Task #2 task stack */
OS_STK Task3Stk[TASK_STK_SIZE]; /* Task #3 task stack */
OS_STK Task4Stk[TASK_STK_SIZE]; /* Task #4 task stack */
OS_STK Task5Stk[TASK_STK_SIZE]; /* Task #5 task stack */
OS_EVENT *MsgQueue; /* Message queue pointer */
void *MsgQueueTbl[20]; /* Storage for messages */
/*
*********************************************************************************************************
* FUNCTION PROTOTYPES
*********************************************************************************************************
*/
void TaskStart(void *data); /* Function prototypes of tasks */
void TaskClk(void *data);
void Task1(void *data);
void Task2(void *data);
void Task3(void *data);
void Task4(void *data);
void Task5(void *data);
/*$PAGE*/
/*
*********************************************************************************************************
* MAIN
*********************************************************************************************************
*/
void main (void)
{
PC_DispClrScr(DISP_BGND_BLACK); /* Clear the screen */
OSInit(); /* Initialize uC/OS-II */
PC_DOSSaveReturn(); /* Save environment to return to DOS */
PC_VectSet(uCOS, OSCtxSw); /* Install uC/OS-II's context switch vector */
PC_ElapsedInit(); /* Initialized elapsed time measurement */
strcpy(TaskUserData[TASK_START_ID].TaskName, "StartTask");
OSTaskCreateExt(TaskStart, (void *)0, &TaskStartStk[TASK_STK_SIZE-1], TASK_START_PRIO,
TASK_START_ID, &TaskStartStk[0], TASK_STK_SIZE, &TaskUserData[TASK_START_ID], 0);
OSStart(); /* Start multitasking */
}
/*$PAGE*/
/*
*********************************************************************************************************
* STARTUP TASK
*********************************************************************************************************
*/
void TaskStart (void *data)
{
char s[80];
INT16S key;
data = data; /* Prevent compiler warning */
PC_DispStr(26, 0, "uC/OS-II, The Real-Time Kernel", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
PC_DispStr(33, 1, "Jean J. Labrosse", DISP_FGND_WHITE);
PC_DispStr(36, 3, "EXAMPLE #3", DISP_FGND_WHITE);
PC_DispStr(0, 9, "Task Name Counter Exec.Time(uS) Tot.Exec.Time(uS) %Tot.", DISP_FGND_WHITE);
PC_DispStr(0, 10, "----------------- ------- ------------- ----------------- -----", DISP_FGND_WHITE);
PC_DispStr(0, 22, "Determining CPU's capacity ...", DISP_FGND_WHITE);
PC_DispStr(28, 24, "<-PRESS 'ESC' TO QUIT->", DISP_FGND_WHITE + DISP_BLINK);
OS_ENTER_CRITICAL(); /* Install uC/OS-II's clock tick ISR */
PC_VectSet(0x08, OSTickISR);
PC_SetTickRate(OS_TICKS_PER_SEC); /* Reprogram tick rate */
OS_EXIT_CRITICAL();
OSStatInit();
MsgQueue = OSQCreate(&MsgQueueTbl[0], MSG_QUEUE_SIZE); /* Create a message queue */
strcpy(TaskUserData[TASK_CLK_ID].TaskName, "Clock Task");
OSTaskCreateExt(TaskClk, (void *)0, &TaskClkStk[TASK_STK_SIZE-1], TASK_CLK_PRIO,
TASK_CLK_ID, &TaskClkStk[0], TASK_STK_SIZE, &TaskUserData[TASK_CLK_ID], 0);
strcpy(TaskUserData[TASK_1_ID].TaskName, "MsgQ Tx Task");
OSTaskCreateExt(Task1, (void *)0, &Task1Stk[TASK_STK_SIZE-1], TASK_1_PRIO,
TASK_1_ID, &Task1Stk[0], TASK_STK_SIZE, &TaskUserData[TASK_1_ID], 0);
strcpy(TaskUserData[TASK_2_ID].TaskName, "MsgQ Rx Task #1");
OSTaskCreateExt(Task2, (void *)0, &Task2Stk[TASK_STK_SIZE-1], TASK_2_PRIO,
TASK_2_ID, &Task2Stk[0], TASK_STK_SIZE, &TaskUserData[TASK_2_ID], 0);
strcpy(TaskUserData[TASK_3_ID].TaskName, "MsgQ Rx Task #2");
OSTaskCreateExt(Task3, (void *)0, &Task3Stk[TASK_STK_SIZE-1], TASK_3_PRIO,
TASK_3_ID, &Task3Stk[0], TASK_STK_SIZE, &TaskUserData[TASK_3_ID], 0);
strcpy(TaskUserData[TASK_4_ID].TaskName, "MboxPostPendTask");
OSTaskCreateExt(Task4, (void *)0, &Task4Stk[TASK_STK_SIZE-1], TASK_4_PRIO,
TASK_4_ID, &Task4Stk[0], TASK_STK_SIZE, &TaskUserData[TASK_4_ID], 0);
strcpy(TaskUserData[TASK_5_ID].TaskName, "TimeDlyTask");
OSTaskCreateExt(Task5, (void *)0, &Task5Stk[TASK_STK_SIZE-1], TASK_5_PRIO,
TASK_5_ID, &Task5Stk[0], TASK_STK_SIZE, &TaskUserData[TASK_5_ID], 0);
PC_DispStr( 0, 22, "#Tasks : xxxxx CPU Usage: xxx %", DISP_FGND_WHITE);
PC_DispStr( 0, 23, "#Task switch/sec: xxxxx", DISP_FGND_WHITE);
for (;;) {
sprintf(s, "%5d", OSTaskCtr); /* Display #tasks running */
PC_DispStr(18, 22, s, DISP_FGND_BLUE + DISP_BGND_CYAN);
sprintf(s, "%3d", OSCPUUsage); /* Display CPU usage in % */
PC_DispStr(36, 22, s, DISP_FGND_BLUE + DISP_BGND_CYAN);
sprintf(s, "%5d", OSCtxSwCtr); /* Display #context switches per second */
PC_DispStr(18, 23, s, DISP_FGND_BLUE + DISP_BGND_CYAN);
sprintf(s, "V%3.2f", (float)OSVersion() * 0.01);
PC_DispStr(75, 24, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
OSCtxSwCtr = 0; /* Clear the context switch counter */
if (PC_GetKey(&key)) { /* See if key has been pressed */
if (key == 0x1B) { /* Yes, see if it's the ESCAPE key */
PC_DOSReturn(); /* Yes, return to DOS */
}
}
OSTimeDly(OS_TICKS_PER_SEC); /* Wait one second */
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* TASK #1
*
* Description: This task executes 5 times per second but doesn't do anything.
*********************************************************************************************************
*/
void Task1 (void *data)
{
char one = '1';
char two = '2';
char three = '3';
data = data;
for (;;) {
OSQPost(MsgQueue, (void *)&one);
OSTimeDlyHMSM(0, 0, 1, 0); /* Delay for 1 second */
OSQPost(MsgQueue, (void *)&two);
OSTimeDlyHMSM(0, 0, 0, 500); /* Delay for 500 mS */
OSQPost(MsgQueue, (void *)&three);
OSTimeDlyHMSM(0, 0, 1, 0); /* Delay for 1 second */
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* TASK #2
*
* Description: This task waits for messages sent by task #1.
*********************************************************************************************************
*/
void Task2 (void *data)
{
INT8U *msg;
INT8U err;
data = data;
for (;;) {
msg = (INT8U *)OSQPend(MsgQueue, 0, &err); /* Wait forever for message */
PC_DispChar(70, 14, *msg, DISP_FGND_YELLOW + DISP_BGND_BLUE);
OSTimeDlyHMSM(0, 0, 0, 500); /* Delay for 500 mS */
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