main.c~

avr Rtos 255 Task avr Rtos 255 Task

//E-G2   RW-G1  RS-G0

#include <mega128.h>  
#include "porturi.h" 
#include "functii_lcd.h"
#include "my_os.h"

unsigned char i=0;
unsigned int global_inc;
unsigned int global_inc_g;
unsigned char b_start_so;
signed char lcd_sem;
unsigned char ig,jg,kg,lg,mg,ng,temp_g;
unsigned char schimba;
int led;
int b;
unsigned char aux;
unsigned int tem; 
signed char task_curent;
signed char task_coada;
signed char task_varf;
task rtos[NR_MAX_TASK];
unsigned char t_sph;
unsigned char t_spl;
unsigned char t_r29;
unsigned char t_r28;
unsigned char task_time;
unsigned int inc=0;    
char *pChar;
  
// Timer 0 overflow interrupt service routine 
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
// Place your code here 
  #asm("cli")
  //#asm("wdr");
  #asm("  ST -Y, R4");
  #asm("  ST -Y, R5");
  #asm("  ST -Y, R6");
  #asm("  ST -Y, R7");
  #asm("  ST -Y, R8");
  #asm("  ST -Y, R9");
  #asm("  ST -Y, R10");
  #asm("  ST -Y, R11");
  #asm("  ST -Y, R12");
  #asm("  ST -Y, R13");
  #asm("  ST -Y, R14");
  #asm("  ST -Y, R15");
  #asm("  ST -Y, R26");
//salvare registru stare
//  xxx=R26;
    global_inc++;//incrementare contor task
    global_inc_g++;//pentru functia delay generala
    inc++;
    i++;
    
//test comutare intre task-uri
  if(b_start_so)//numai daca a fost pornit sistemul de operare!
   {
   if(inc>=1)//are loc comutarea intre task-uri??
   {
    global_inc=0;
    inc=0;
    t_sph=0;
    t_spl=0;
    t_r29=0;
    t_r28=0;
    get_tsp();//initializare variabile t_sp si t_r

//salvare adrese - folosit pointer-ul X  (este deja salvat)
    #asm("  LDS R30,_t_r28");//R26 <- t_r28
    #asm("  LDS R31,_t_r29");//R27 <- t_r29
    #asm("  ST -Z, R28");//salvare pointer Y
    #asm("  ST -Z, R29");

//salvare stiva
    #asm("  LDS R30,_t_spl");//salvarea stivei se face folosind pointer-ul Y
    #asm("  LDS R31,_t_sph");
    #asm("  IN R16,0x3d");//salvare SPH
    #asm("  ST -Z,R16");
    #asm("  IN R16,0x3e");//salvare SPL
    #asm("  ST -Z,R16");

    push_var();//salveaza variabilele
    comuta_task();//comuta task-ul urmator
    pop_var();//restaureaza noile variabile


  #asm("  LDS R28,_t_spl");
  #asm("  LDS R29,_t_sph");
  #asm("  LD R16,-Y");
  #asm("  OUT 0x3d,R16");
  #asm("  LD R16,-Y");
  #asm("  OUT 0x3e,R16");

//in plus setare pointer y pentru stiva soft!
//restaurare adrese - folosit pointer-ul X  (va fi si el restaurat)

  #asm("  LDS R30,_t_r28");
  #asm("  LDS R31,_t_r29");
  #asm("  LD R28,-Z");
  #asm("  LD R29,-Z");

   }
    //intfunct();
//reactualizeaza pointerii noi calculati

  }

//  SREG=xxx;
  #asm("  LD R26,Y+");
  #asm("  LD R15,Y+");
  #asm("  LD R14,Y+");
  #asm("  LD R13,Y+");
  #asm("  LD R12,Y+");
  #asm("  LD R11,Y+");
  #asm("  LD R10,Y+");
  #asm("  LD R9,Y+");
  #asm("  LD R8,Y+");
  #asm("  LD R7,Y+");
  #asm("  LD R6,Y+");
  #asm("  LD R5,Y+");
  #asm("  LD R4,Y+");
} 

void delay(int t)
{
  do{
  }
  while(i<t); 
  i=0;
}                                

// Declare your global variables here

void ftask1(void)
{  
  for(;;){PORTB=0x01;
  //send_char('z');
  //send_char('z');
//MA_SetPortOut_IO(MA_PORTF,0xFF);
//MA_WritePort_IO(MA_PORTF,0xFF,0xFF);
  }
}

void ftask2(void)
{
for(;;){PORTB=0x02;
//send_char('y');
  while((b&0x08)==0x08){
  b=PINC;
  if((b&0x08)==0x00) delay(2);
  }
  while((b&0x08)==0x00){
  b=PINC;
  if((b&0x08)==0x08) delay(2);
  }
  led=~led;
  PORTB=led;
  if(aux==0) aux=1;
  else aux=0;
  schimba=1;
}
}

void ftask3(void)
{
   
  //if(aux==0)send_string(text1);
  //else send_string(text2);
  for(;;){PORTB=0x04;
  //send_char('x');
  if(schimba==1){ 
    if(aux==0)send_char('a');
    else send_char('b');
    schimba=0;
    //if(aux==0)send_string(text1);
    //else send_string(text2);
  }
  }
}

void ftask4(void)
{   
for(;;){PORTB=0x08;
        if( UCSR0A & 0x80 ){
       *pChar = UDR0; 
        UDR0 = *pChar; }
};
} 

void main(void)
{
// Declare your local variables here 

  char *text1 = " Valy  ********abcdef";
//Timer 0
ASSR=0x00;
TCCR0=0x06;                    
TCNT0=0x00;
OCR0=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x01;
ETIMSK=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00; 

// USART0 initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART0 Receiver: On
// USART0 Transmitter: On
// USART0 Mode: Asynchronous
// USART0 Baud rate: 9600 (Double Speed Mode)
UCSR0A=0x02;
UCSR0B=0x18;
UCSR0C=0x06;
UBRR0H=0x00;
UBRR0L=0xCF;

/*#pragma optsize-
WDTCR=0x18;
WDTCR=0x08;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif*/

SetPortB_Out(0xFF );
SetPortC_In(0xFF );
SetPortD_Out(0xFF);
WritePortD(0x80,0x00);

init(); 
//setpos(2,2); 
//send_char('a'); 
//delay(100);
send_string(text1);
global_inc=0;
 b_start_so=0;
 aux=1;
 schimba=1;

// Global enable interrupts
#asm("sei") 
global_inc=0;
start_so();//porneste sistemul de operare (kernelul)

 creaza_task(ftask1,10);
 creaza_task(ftask2,100);
 creaza_task(ftask3,100);
 creaza_task(ftask4,10);
//initializeaza primul task
 init_task();
 pop_var();
 PopSP(); 
 
}