main.c

Ports_for_CF5213.zip 接口程序；接口程序；

/*
 * File:		main.c
 * Purpose:		Main process
 *
 */

/* 
 * Include the generic CPU header file 
 */
#include "mcf5xxx.h"

/* 
 * Include the specific CPU header file 
 */
#include "mcf5213.h"

/* 
 * Include the board specific header file 
 */
//#if (defined(M5213EVB))
#include "m5213evb/m5213evb.h"
//#elif (defined(M5211DEMO))
//#include "m5211demo/m5211demo.h"
//#elif (defined(M5213P))
//#include "m5213p/m5213p.h"
//#else
//#error "No valid platform defined"
//#endif

/* 
 * Include any toolchain specfic header files 
 */
#if (defined(__MWERKS__))
#include "build/mwerks/mwerks.h"
#elif (defined(__DCC__))
#include "build/wrs/diab.h"
#elif (defined(__ghs__))
#include "build/ghs/ghs.h"
#endif

/* 
 * Include common utilities
 */
#include "assert.h"
#include "io.h"
//#include "stdlib.h"
/*
*********************************************************************************************************
*                                               uC/OS-II
*                                         The Real-Time Kernel
*
*                             (c) Copyright 2000, Jean J. Labrosse, Weston, FL
*                                          All Rights Reserved
*
*                                          MCF5282 Sample code
*
*
*
* File         : MAIN.C
* Originally by: Jean J. Labrosse
* Modified by  : Mark D. Medonis
* Modified by  : Carlton Heyer for CF5282
*********************************************************************************************************
*/

#include "INCLUDES.H"

#define	TASK_WORK	100
#define	APP_START_TASK_LED	1
#define	APP_TASK_1_LED		2
#define	APP_TASK_2_LED		4

/*
*********************************************************************************************************
*                                           REVISION HISTORY
*
*
* 0.a
* Port for Motorola MCF5272 ColdFire microprocessor.
* Added some printf statements to the AppTasks to monitor multitasking. This
* is used with the BDM debugger and the console I/O libraries provided by CodeWarrior.
* M. Medonis 4/16/2002
*
* Commented out printf statements in the Tasks because they were causing errors.
* Added code to blink LEDs for the Avnet Coldfire board (5282 based).
* Modified for 5282 timer0.
* Carlton Heyer 4/28/04
*      
*********************************************************************************************************
*/


/*$PAGE*/
/*
*********************************************************************************************************
*                                                VARIABLES
*********************************************************************************************************
*/

OS_STK  AppStartTaskStk[256];
OS_STK  AppTask1Stk[256];
OS_STK  AppTask2Stk[256];

INT8U leds = 0xff;				// Assume all LEDs are lit
INT8U led_ptr = 0x80;			// Point to LED7

/*
*********************************************************************************************************
*                                            FUNCTION PROTOTYPES
*********************************************************************************************************
*/

static void  AppStartTask(void *pdata);
static void  AppTask1(void *pdata);
static void  AppTask2(void *pdata);
static void  AppTickInit(void);

void gpt_init();
void led_toggle(INT8U);
void led_enable(INT8U);
void led_disable(INT8U);
void isr_init(void);
INT8U get_sw(void);

extern void timer0_handler(void);



/*
*********************************************************************************************************
*                                                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 683xx and C initialization.
* Arguments   : none
*********************************************************************************************************
*/

void main (void)
{
    /* Enable signals as GPIO */
    MCF_GPIO_PTCPAR = 0
        | MCF_GPIO_PTCPAR_TIN3_GPIO
        | MCF_GPIO_PTCPAR_TIN2_GPIO
        | MCF_GPIO_PTCPAR_TIN1_GPIO
        | MCF_GPIO_PTCPAR_TIN0_GPIO;
    
    /* Set output values */
    MCF_GPIO_PORTTC = 0x0F;
    
    /* Enable signals as digital outputs */
    MCF_GPIO_DDRTC = 0
        | MCF_GPIO_DDRTC_DDRTC3
        | MCF_GPIO_DDRTC_DDRTC2
        | MCF_GPIO_DDRTC_DDRTC1
        | MCF_GPIO_DDRTC_DDRTC0;
	printf("\n\nStart uCOS-II on MCF5213 doggle board.\n\n");
    InitVBR();
	// Init int vectors to default routine
	isr_init();
    
    OSVectSet(47, (void (*)(void))OSCtxSw); /* Setup the context switch exception                      */

    /*---- Any initialization code prior to calling OSInit() goes HERE --------------------------------*/
   
    OSInit();                               /* Initialize "uC/OS-II, The Real-Time Kernel"             */

    /*---- Any initialization code before starting multitasking ---------------------------------------*/

    OSTaskCreate(AppStartTask, (void *)0x12345678L, (void *)&AppStartTaskStk[255], 0);

    /*---- Create any other task you want before we start multitasking --------------------------------*/

    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   : pdata   is the argument passed to 'AppStartTask()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' 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 *pdata)
{
  	INT32U i=0;								// Task counter
  	INT32U work;
    pdata = pdata;                          /* 'pdata' should contain 0x12345678!                      */

    AppTickInit();                          /* Initialize the ticker                                   */

    /*---- Task initialization code goes HERE! --------------------------------------------------------*/
    OSTaskCreate(AppTask1, (void *)0, (void *)&AppTask1Stk[255], 10);
    OSTaskCreate(AppTask2, (void *)0, (void *)&AppTask2Stk[255], 20);

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
		i++;
		led_toggle(APP_START_TASK_LED);
//        printf("Start %i\r\n", i);	// printf statements cause runtime errors

		// Have the task pretend to do some work
        work = 5 * TASK_WORK;
        while(work--);			// App Start Task work
        
        OSTimeDly(3000);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #1
*
* Description : This is an example of a task.  
* Arguments   : pdata   is the argument passed to 'AppTask1()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' 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  AppTask1 (void *pdata)
{
    INT32U Task1Ctr = 0;
    INT32U work;
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/
    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task1Ctr++;
		led_toggle(APP_TASK_1_LED);
//        printf("AvTask1 %d\r\n",Task1Ctr);	// printf statements cause runtime errors
        
        // Have the task pretend to do some work
        work = 50 * TASK_WORK;
        while(work--);			// Task 1 work
        OSTimeDly(80);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #2
*
* Description : This is an example of a task.  
* Arguments   : pdata   is the argument passed to 'AppTask2()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' 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  AppTask2 (void *pdata)
{
    INT32U Task2Ctr = 0;
    INT32U work;
    
    pdata = pdata;
//    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task2Ctr++;
		led_toggle(APP_TASK_2_LED);
//        printf("AvTask2 %d\r\n", Task2Ctr);	// printf statements cause runtime errors
        
        // Have the task pretend to do some work
        work = 500 * TASK_WORK;
        while(work--);		// Do some work
        
        OSTimeDly(50);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                       TICKER INITIALIZATION
*
* Description : This function is called to initialize a periodic time source which will be used as the
*               clock tick for uC/OS-II.  The interrupt handler MUST point to OSTickISR (see OS_CPU_A.S).
*
*********************************************************************************************************
*/

static void AppTickInit (void)
{
	OSVectSet(119, (void (*)(void))OSTickISR);  /* Point the Timer 0 vector 55 to the int handler   */
   
	MCF_PIT0_PCSR = MCF_PIT_PCSR_PRE(8) | MCF_PIT_PCSR_PIE | MCF_PIT_PCSR_RLD;
	MCF_PIT0_PMR = 312500/OS_TICKS_PER_SEC;
	MCF_PIT0_PCSR |= MCF_PIT_PCSR_PIF | MCF_PIT_PCSR_EN;
	
    return;

}


void led_toggle(INT8U led)
{
	unsigned char i;
	switch(led)
	{
		case 0x01:
		case 0x02:
		case 0x04:
		case 0x08:
		case 0x10:
		case 0x20:
		case 0x40:
		case 0x80:
			OS_ENTER_CRITICAL();
			leds ^= led;
			printf("\nled is %02X.\n", led);
			i = MCF_GPIO_PORTTC;
			//printf("\ni is %02X.\n", i);
			i = i & led;
			if(i == 0x00)
			{
				MCF_GPIO_PORTTC = MCF_GPIO_PORTTC | led;								
			}
			else
			{
				MCF_GPIO_CLRTC = MCF_GPIO_PORTTC & ~led;
			}
			OS_EXIT_CRITICAL();
			(leds & led) ? led_enable(led) : led_disable(led);
		default:
			break;
	}
}


void led_disable(INT8U led)
{

}


void led_enable(INT8U led)
{

}


unsigned char get_sw(void)
{

	return 0x55;
}


void gpt_init(void)
{	

}

void isr_init()
{
	INT16U int_no;
	
	MCF_INTC_IMRH = 0xFF7FFFFF;		// Enable PIT0 Int
	MCF_INTC_IMRL = 0xFFFFFFFE;		// Enable Global Ints
	MCF_INTC_ICR55 = 0x08;			// Int level 1, priority 0
	OSVectSet(0x45, (void (*)(void))timer0_handler); /* Setup the context switch exception    */
}