ucos_ii.c

建立两个任务

/*
*********************************************************************************************************
*                                                uC/OS-II
*                                          The Real-Time Kernel
*
*                        (c) Copyright 1992-1998, Jean J. Labrosse, Plantation, FL
*                                           All Rights Reserved
*
*                                                  V2.00
*
* File : uCOS_II.C
* By   : Jean J. Labrosse
*********************************************************************************************************
*/

#define  OS_GLOBALS                           /* Declare GLOBAL variables                              */
#include "includes.h"
#include "..\inc\44b.h"

#define  OS_CRITICAL_METHOD 	2

//#define  OS_MASTER_FILE                       /* Prevent the following files from including includes.h */
//#include "os_core.c"
//#include "os_mbox.c"
//#include "os_mem.c"
//#include "os_q.c"
//#include "os_sem.c"
//#include "os_task.c"
//#include "os_time.c"
//#include "os_mutex.c"

#define IRQ_VECTOR_OFFSET	(0x70)
//-------------------------------------------------------
// globle variables
//-------------------------------------------------------
volatile static int isrCount = 0;		// tick counter
//volatile static unsigned int Dump_Pool[16];



void HaltUndef(void)
{
    Uart_Printf("Undefined instruction exception!!!\n");
    while(1);
}

void HaltSwi(void)
{
    Uart_Printf("SWI exception!!!\n");
    while(1);
}

void HaltPabort(void)
{
    Uart_Printf("Pabort exception!!!\n");
    while(1);
}

void HaltDabort(void)
{
    Uart_Printf("Dabort exception!!!\n");
    while(1);
}

void Isr_Init(void)
{
    int i;
    
    pISR_UNDEF=(unsigned)HaltUndef;
    pISR_SWI  =(unsigned)HaltSwi;
    pISR_PABORT=(unsigned)HaltPabort;
    pISR_DABORT=(unsigned)HaltDabort;
    
     for(i=_RAM_STARTADDRESS;i<(_RAM_STARTADDRESS+0x20);i+=4)
    {
	*((volatile unsigned *)i)=0xEA000000+0x1FFE;
    }
    rINTCON=0x5;	  // Non-vectored,IRQ enable,FIQ disable    
    rINTMOD=0x0;	  // All=IRQ mode
    rINTMSK|=BIT_GLOBAL|BIT_EINT3;	  // All interrupt is masked.
}

//-------------------------------------------------------
// OS_Tick Hook Fubction
//-------------------------------------------------------
void tick_hook(void)
{
	isrCount++;
	rI_ISPC = (unsigned int)1 << 20;
}

//-------------------------------------------------------
// install a new ISR
// this function must be synchronized
//-------------------------------------------------------
unsigned int ISR_Install(unsigned int offset, void *pf_ISR)
{
	unsigned int pOldEntry;

	// get absolute address of IRQ vector
	// _ISR_STARTADDRESS : see Option.h
	offset += _ISR_STARTADDRESS;

	// get the Old ISR service routine entry point
	pOldEntry = *((unsigned int *)offset);
	
	// install new interrupt service routine
	*((unsigned int *)offset) = (unsigned int)pf_ISR;

	return pOldEntry;
}

//-------------------------------------------------------
// must be synchronized
//-------------------------------------------------------
void tick_off(void)
{
	rRTCCON = (unsigned char)1;
	
	rTICNT = (unsigned char)0;
	
	rRTCCON = (unsigned char)0;

}

//--------------------------------------------------------
// set or clear TICK interrupt mask
// this function must be synchronized
//--------------------------------------------------------
void tick_int_enable(unsigned char bEnabled)
{
	// clear interrupt pending first
	rI_ISPC = (unsigned int)0x01 << 20;
	
	rINTMSK &= (unsigned int)~(0x01 << 20);
}

//--------------------------------------------------------
// start tick function of RTC
// interval = (1 + div) / 128  second
// this function must be synchronized
// div MUST >= 1 && <= 128
//--------------------------------------------------------
void tick_init(unsigned char div)
{
	rRTCCON = (unsigned char)1;

//	ASSERT(div >= 1 && div <= 127);
	rTICNT = (unsigned char)(div | 0x80);

	rRTCCON = (unsigned char)0;

	tick_int_enable(1);
}

//--------------------------------------------------------
// interrupt controler initilization
//--------------------------------------------------------
void intcon_init(void)
{
	rINTMOD = 0;			// all interrupt sources configed as IRQ
	rI_ISPC = 0x7ffffff;	// clear all intrrupt request
	rINTCON = 0x05;			// irq interrupt available
}

//--------------------------------------------------------
// globel interrupt enable
//--------------------------------------------------------
void globle_int_enable(unsigned char bEnabled)
{
	if(bEnabled)
		rINTMSK &= ~(0x03 << 26);
	else
		rINTMSK |= 0x01 << 26;
}

__inline void Sleep(INT16U uSec)
{
	OSTimeDly((INT16U) (uSec));
}

void sys_init(void)
{
	tick_off();
	tick_int_enable(0);
	globle_int_enable(0);
	intcon_init();
	isrCount = 0;
	
	// Set the function of the pins
	Isr_Init();
	Port_Init();
	Uart_Init(0, 115200);
	

	// hook the tick ISR
	ISR_Install(IRQ_VECTOR_OFFSET, (void *)OSTickISR);

	globle_int_enable(1);
}