task_mycan.c

在Freescale16位单片机MC9s12dp256上移植了J1939源码和操作系统（ucOSII）。

#include "Includes.h"

#include "PortAB.h"
#include "Types.h"
#include "JCanCntrl.h"
#include "J1939PGN.h"
#include "J1939TRA.h"
#include "J1939CFG.h"

#include "J1939EXT.h"



static OS_STK  Task_MyCAN_STK[OS_STK_DEFAULT_SIZE];
#define TASK_MyCAN_PRIO		0x17 //priority

#define MyCANBAUD_RATE 5  /* for 250 kb seet table in "canxxx.c" */

void  Task_MyCAN(void *pdata)
{
 gMyCan_CntrlInit(MyCANBAUD_RATE);

 while(1)
 {
  gCB_Init();
  InitMyCANPGs();
  
  /*handle received PG of MyCAN */
  
  if (gRxMyPG.mEnable) /* Process PG */
      {
        if (gRxMyPG.mPGState == PG_RX_FULL) /* PG received? */
        {
          
          gRxMyPG.mTimer = Tim_GetCurrentTime(); /* Reset Timer */
          gRxMyPG.mPGState = PG_RX_FREE; /* Free buffer */
          break;
        }
        else if (gRxMyPG.mTransType == TT_CYCLIC) /* Cyclic reception */
        {
          if (Tim_CheckTimeOut(gRxMyPG.mTimer,Tim_GetCurrentTime(),gRxMyPG.mTransRate)) /* Timeout? */
          { 
            
            gRxMyPG.mTimer = Tim_GetCurrentTime(); /* Reset Timer */
            /* break; */ /* No break because of a missing PG would stop whole reception */
          }
        }
      }
  
  /*handle sended PG of MyCAN */
   
   if (gTxMyPG.mEnable) /* Process PG? */
      {
        if (gTxMyPG.mTransType == TT_CYCLIC) /* Cyclic trasmission */
        {
          if ((Tim_CheckTimeOut(gTxMyPG.mTimer,Tim_GetCurrentTime(),gTxMyPG.mTransRate))
              && (gTxMyPG.mPGState == PG_TX_REQ))
              /* Check timer */
          {
            gCB_SendUserPG(&gTxMyPG);
            break;
          }
          else if(gTxMyPG.mPGState == PG_TX_XMT)
          {
            /* transmission delayed */
            /* UserFunctionTransmissionDelay() */                
          }
          else if (gTxMyPG.mPGState == PG_TX_TX)
          {
            gTxMyPG.mPGState = PG_TX_REQ; /* Free buffer */
            gTxMyPG.mTimer = Tim_GetCurrentTime(); /* Reset Timer */
            break;
          }
        }
       }  
  
  OSTimeDly(1);
 }/*while(1)*/
}

void Task_MyCAN_Create(void)
{
	#if OS_TASK_CREATE_EXT_EN==1
		OSTaskCreateExt(Task_MyCAN,
			(void*)0,
			&Task_MyCAN_STK[OS_STK_DEFAULT_SIZE-1],
			TASK_MyCAN_PRIO,
			TASK_MyCAN_PRIO,
			&Task_MyCAN_STK[0],
			OS_STK_DEFAULT_SIZE,
			(void*) 0,
			OS_TASK_OPT_STK_CHK|OS_TASK_OPT_STK_CLR);
	#else
		OSTaskCreate(Task_MyCAN,
			(void*)0,
			&Task_MyCAN_STK[OS_STK_DEFAULT_SIZE-1],
			TASK_MyCAN_PRIO);		
	#endif		
}