int main (int argc, char* argv[], char* envp[])
{
INT8U error_code;
/* Clear the RTOS timer */
OSTimeSet(0);
/* SSSInitialTask will initialize the NicheStack
* TCP/IP Stack and then initialize the rest of the Nios II Simple Socket Server example
* RTOS structures and tasks.
*/
error_code = OSTaskCreateExt(SSSInitialTask,
NULL,
(void *)&SSSInitialTaskStk[TASK_STACKSIZE],
SSS_INITIAL_TASK_PRIORITY,
SSS_INITIAL_TASK_PRIORITY,
SSSInitialTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/*
* As with all MicroC/OS-II designs, once the initial thread(s) and
* associated RTOS resources are declared, we start the RTOS. That's it!
*/
OSStart();
while(1); /* Correct Program Flow never gets here. */
return -1;
}
void ModifyLocalTime(struct timeval* tv)
{
unsigned int ticks, time;
time = tv->tv_sec - 1417305600;
ticks = time * OS_TICKS_PER_SEC;
OSTimeSet(ticks);
}
int main(void)
{
CPU_INT08U os_err;
//禁止CPU中断
CPU_IntDis();
//UCOS 初始化
OSInit(); /* Initialize "uC/OS-II, The Real-Time Kernel". */
//硬件平台初始化
SystemInit();
BSP_Init(); /* Initialize BSP functions. */
//默认LED闪烁间隔500ms
milsec1=1000;
//建立主任务， 优先级最高 建立这个任务另外一个用途是为了以后使用统计任务
os_err = OSTaskCreate((void (*) (void *)) App_TaskStart, //指向任务代码的指针
(void *) 0, //任务开始执行时，传递给任务的参数的指针
(OS_STK *) &App_TaskStartStk[APP_TASK_START_STK_SIZE - 1], //分配给任务的堆栈的栈顶指针 从顶向下递减
(INT8U) APP_TASK_START_PRIO); //分配给任务的优先级
//ucos的节拍计数器清0 节拍计数器是0-4294967295 对于节拍频率100hz时， 每隔497天就重新计数
OSTimeSet(0);
OSStart(); /* Start multitasking (i.e. give control to uC/OS-II). */
/* Start multitasking (i.e. give control to uC/OS-II). */
return (os_err);
}
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
CPU_INT08U os_err;
//BSP_Init();
//BSP_IntDisAll(); /* Disable all ints until we are ready to accept them. */
CPU_IntDis();
OSInit(); /* Initialize "uC/OS-II, The Real-Time Kernel". */
BSP_Init(); /* Initialize BSP functions. */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIOC->BSRR = 1<<0;
os_err = OSTaskCreate((void (*) (void *)) App_TaskStart,
/* Create the start task. */
(void *) 0,
(OS_STK *) &App_TaskStartStk[APP_TASK_START_STK_SIZE - 1],
(INT8U) APP_TASK_START_PRIO);
#if (OS_TASK_NAME_SIZE >= 11)
OSTaskNameSet(APP_TASK_START_PRIO, (CPU_INT08U *) "Start Task", &os_err);
#endif
// InfoSem = OSSemCreate(0);
// Disp_Box = OSMboxCreate((void *) 0);
OSTimeSet(0);
OSStart(); /* Start multitasking (i.e. give control to uC/OS-II). */
return (0);
}
int main(void)
{
CPU_INT08U os_err;
//禁止CPU中断
CPU_IntDis();
//UCOS 初始化
OSInit(); /* Initialize "uC/OS-II, The Real-Time Kernel". */
//硬件平台初始化
BSP_Init(); /* Initialize BSP functions. */
/* Configure FSMC Bank1 NOR/PSRAM */
I2C_Ini();
HMC5883L_Init();
HMC5883L_Start();
MPU6050_Init();
//建立主任务， 优先级最高 建立这个任务另外一个用途是为了以后使用统计任务
os_err = OSTaskCreate((void (*) (void *)) App_TaskStart, //指向任务代码的指针
(void *) 0, //任务开始执行时，传递给任务的参数的指针
(OS_STK *) &App_TaskStartStk[APP_TASK_START_STK_SIZE - 1], //分配给任务的堆栈的栈顶指针 从顶向下递减
(INT8U) APP_TASK_START_PRIO); //分配给任务的优先级
os_err =os_err;
//ucos的节拍计数器清0 节拍计数器是0-4294967295 对于节拍频率100hz时， 每隔497天就重新计数
OSTimeSet(0);
OSStart(); /* Start multitasking (i.e. give control to uC/OS-II). */
/* Start multitasking (i.e. give control to uC/OS-II). */
return (0);
}
int main (int argc, char* argv[], char* envp[])
{
INT8U error_code;
int rc;
/* Clear the RTOS timer */
OSTimeSet(0);
/* Flash LEDs and reset ethernet PHY - $M$*/
#ifdef LED_PIO_BASE
IOWR_ALTERA_AVALON_PIO_DATA(LED_PIO_BASE, 0xaa);
printf("LEDs set to 0xAA\n");
#endif
rc = usleep(1000000); // Delay 1 sec
#ifdef NENET_REG_RESET_BASE
/* Reset the Ethernet PHY */
printf("Reseting Ethernet PHY...");
IOWR_ALTERA_AVALON_PIO_DATA(NENET_REG_RESET_BASE, 0x1); // Be sure it's hi first
rc = usleep(250000); // Delay .25 sec
IOWR_ALTERA_AVALON_PIO_DATA(NENET_REG_RESET_BASE, 0x0); // Go low for reset
rc = usleep(250000); // Delay .25 sec
IOWR_ALTERA_AVALON_PIO_DATA(NENET_REG_RESET_BASE, 0x1); // Back to hi - inactive
printf(" Done\n");
rc = usleep(250000); // Delay .25 sec
#endif
#ifdef LED_PIO_BASE
IOWR_ALTERA_AVALON_PIO_DATA(LED_PIO_BASE, 0xaa);
printf("LEDs set to 0x55\n");
#endif
/* SSSInitialTask will initialize the NicheStack
* TCP/IP Stack and then initialize the rest of the Simple Socket Server example
* RTOS structures and tasks.
*/
error_code = OSTaskCreateExt(SSSInitialTask,
NULL,
(void *)&SSSInitialTaskStk[TASK_STACKSIZE],
SSS_INITIAL_TASK_PRIORITY,
SSS_INITIAL_TASK_PRIORITY,
SSSInitialTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/*
* As with all MicroC/OS-II designs, once the initial thread(s) and
* associated RTOS resources are declared, we start the RTOS. That's it!
*/
OSStart();
while(1); /* Correct Program Flow never gets here. */
return -1;
}
void ipmi_main_start(void)
{
// 操作系统初始化
OSInit();
// 创建任务并运行
OSTaskCreate(ipmi_task_main, (void*)0, (OS_STK*)&ipmi_task_stk[STK_SIZE-1], (INT8U)1);
OSTimeSet(0);
OSStart();
}
/* The main function creates two task and starts multi-tasking */
int main(void)
{
task t1 = {4,60}; // CPU exec, Period
task t2 = {1,70};
task t3 = {2,80};
INT8U err;
OSInit();
OSTaskCreateExt(task1,
&t1,
(void *)&task1_stk[TASK_STACKSIZE-1],
TASK1_PRIORITY,
TASK1_PRIORITY,
task1_stk,
TASK_STACKSIZE,
NULL,
0,
t1.period);
OSTaskCreateExt(task2,
&t2,
(void *)&task2_stk[TASK_STACKSIZE-1],
TASK2_PRIORITY,
TASK2_PRIORITY,
task2_stk,
TASK_STACKSIZE,
NULL,
0,
t2.period);
OSTaskCreateExt(task3,
&t3,
(void *)&task3_stk[TASK_STACKSIZE-1],
TASK3_PRIORITY,
TASK3_PRIORITY,
task3_stk,
TASK_STACKSIZE,
NULL,
0,
t3.period);
R1 = OSMutexCreate(R1_PRIO, &err);
R2 = OSMutexCreate(R2_PRIO, &err);
printf("====== SRP Task Set 2 { t1(9,60), t2(3,70), t3(0,80) } (Arrival,Period) ======\n");
printf("------------------------------------------------------------------------------\n");
printf("Current Time Event System Ceiling \n");
printf("------------------------------------------------------------------------------\n");
OSTimeSet(0);
OSStart();
return 0;
}
int main(void)
{
INT8U err;
OSInit();
OSTaskCreate( start_task,
(void *)0, //空指针 即NULL
(OS_STK *)START_TASK_STK[START_STK_SIZE - 1],//最后一个元素作为栈顶
START_TASK_PRIO);//创建起始任务
OSTimeSet(0);
OSStart();
}
//外部中断初始化程序 //初始化PA.0,PC.13为中断输入.
void EXTI0_IRQHandler(void)
{
OS_ERR err;
OSIntEnter();
EXTI->PR =EXTI_Line0; ;//清中断标志位
if (UITtime==0)
{
OSTimeSet(0,(OS_ERR *)err);
}
SysTick->VAL=0;
OSIntExit();
}
int main(void)
{
OSInit();
OSTaskCreate( start_task,
(void *)0, //空指针 即NULL
(OS_STK *)START_TASK_STK[START_STK_SIZE - 1],//最后一个元素作为栈顶
START_TASK_PRIO);//创建起始任务
OSTimeSet(0);
//创建信号量
pkey = OSSemCreate(0);//参数为cnt，表示计数值
OSStart();
}
int main(void){
BSP_Init();
OSInit();
OSTaskCreate(Task_Start,(void *)0,
&startup_task_stk[STARTUP_TASK_STK_SIZE-1], STARTUP_TASK_PRIO);
OSTimeSet(0);
OSStart();
return 0;
}
int Main(int argc, char **argv)
{
//初始化目标板
TargetInit();
//初始化uCOS-II
OSInit ();
//初始化系统时基
OSTimeSet(0);
//创建系统初始任务
OSTaskCreate (MainTask,(void *)0, &MainTaskStk[MainTaskStkLengh - 1], MainTaskPrio);
//开始任务
OSStart ();
return 0;
}
int main (int argc, char* argv[], char* envp[])
{
/* Initialize the current flash block, for flash programming. */
current_flash_block = -1;
INT8U error_code;
/* Clear the RTOS timer */
OSTimeSet(0);
/* WSInitialTask will initialize the NicheStack TCP/IP Stack and then
* initialize the rest of the web server's tasks.
*/
error_code = OSTaskCreateExt(WSInitialTask,
NULL,
(void *)&WSInitialTaskStk[TASK_STACKSIZE-1],
WS_INITIAL_TASK_PRIO,
WS_INITIAL_TASK_PRIO,
WSInitialTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/*
* As with all MicroC/OS-II designs, once the initial thread(s) and
* associated RTOS resources are declared, we start the RTOS. That's it!
*/
OSStart();
while(1); /* Correct Program Flow never gets here. */
return -1;
}
/*
*********************************************************************************************************
* Output PWM
*********************************************************************************************************
*
*********************************************************************************************************
*/
void OutputTask(void *p_arg)
{
CPU_TS ts;
OS_ERR err;
CPU_INT16U Commande;
CPU_INT16U value;
CPU_INT16U last_value;
float angle_value;
float angle_Commande;
float PID;
//Flush the first conversion, the data is sometime wrong
OSSemPend(&semADC_Complete,0,OS_OPT_PEND_BLOCKING,&ts,&err);
//Reset the ticks for calculation of the frequency of the PID
OSTimeSet(0,&err);
while (1)
{
//Pend on data ready from the ADC interrupt
OSSemPend(&semADC_Complete,0,OS_OPT_PEND_BLOCKING,&ts,&err);
//Get the ADC value
OSMutexPend(&mutADC,0,OS_OPT_PEND_BLOCKING,&ts,&err);
value = strSemADC.uValue;
OSMutexPost(&mutADC,OS_OPT_POST_NONE,&err);
//Get the Command value from Timer3
OSMutexPend(&mutTMR3,0,OS_OPT_PEND_BLOCKING,&ts,&err);
Commande = Command;
OSMutexPost(&mutTMR3,OS_OPT_POST_NONE,&err);
//Regression Linéaire
angle_value = (value-290.45)/19.12;
angle_Commande = (Commande-600)/10;
//Timestamp Print shows that
//a delay of 50ms is usualy precise on a long period of time so
// there is no need to calculate it software like
//float PIDcal(float setpoint,float actual_position,(TIMESTAMP-LASTTIMESTAMP)*Tick_Period)
//instead we will use a defined value in PID.h for the deltaT
//To see the veracity of this affirmation, simply enable this printf
// printf("TS = %d\n\r", GetTimeStamp());
//According to the usage of the CPU, the delay between calls to this function can change
//Make sure there is enough process to calculate an efficient PID or use the TIMESTAMP-LASTTIMESTAMP
//in PID to make sure deltaT is correct
//Calcul du PID
PID=PIDcal(angle_Commande,angle_value);
//Protection du moteur
//Arret du moteur si on approxime la commande
if(abs(angle_Commande - angle_value) < .8)
TIM1->CCR1=0;
//Réduction de la vitesse si on approxime la commande
else if(abs(angle_Commande - angle_value) < 5)
TIM1->CCR1=(int)(400+150*abs((int)PID));
//Vérification des limites physique du moteur
else if(value-last_value > 0)
{
if(value-(last_value - value) < 500) //Limite atteinte
TIM1->CCR1=500;
else
TIM1->CCR1=(int)(500+700*abs((int)PID)); //Fonctionnement normal
}
else
{
if(2*value-last_value > 3500) //Limite atteinte
TIM1->CCR1=500;
else
TIM1->CCR1=(int)(500+700*abs((int)PID)); //Fonctionnement normal
}
//Determine le sens du moteur
if (PID>0)
TIM1->CCER=0x01;
else
TIM1->CCER=0x04;
}
}
int
main(void)
{
INT8U mute_err;
int priort;
int i;
iniche_net_ready = 0;
/* OSInit(); */
OSTimeSet(0);
/* create all of the various semaphores */
mheap_sem_ptr = OSSemCreate(1); /* npalloc() heap */
if (!mheap_sem_ptr)
panic("mheap_sem_ptr create err");
rcvdq_sem_ptr = OSSemCreate(0); /* RCVD queue "ready" */
if (!rcvdq_sem_ptr)
panic("rcvdq_sem_ptr create err");
#ifdef OS_PREEMPTIVE
for (i = 0; i <= MAX_RESID; i++)
{
resid_semaphore[i] = OSSemCreate(1);
if (!resid_semaphore[i])
panic("resid_semaphore create err");
}
for (i = 0; i <= MAX_SEMID; i++)
{
app_semaphore[i] = OSSemCreate(1);
if (!app_semaphore[i])
panic("app_semaphore create err");
}
#endif /* OS_PREEMPTIVE */
#ifndef TCPWAKE_RTOS
/*
* clear global_TCPwakeup_set
*/
for (i = 0; i < GLOBWAKE_SZ; i++)
{
global_TCPwakeup_set[i].ctick = 0;
global_TCPwakeup_set[i].soc_event = NULL;
global_TCPwakeup_set[i].semaphore = OSSemCreate(0);
if (!global_TCPwakeup_set[i].semaphore)
panic("globwake_semaphore create err");
}
global_TCPwakeup_setIndx = 0;
#endif /* TCPWAKE_RTOS */
/* We have to lock scheduler while creating net tasks. Even though the RTOS
* technically running yet, the ISR hooks to change tasks don't know this.
* Since the UART uses interrupts heavly, we have to resort to this to
* get console output during net_init.
*/
OSLockNesting++;
netmain(); /* Create net tasks */
OSLockNesting--;
dprintf("+++ uCOS init, app_priority = %d\n", app_priority);
OSStart(); /* Jump to uCOS-II - Start system; never returns */
panic("uCOS-II returned");
return 0;
}
/* The main function creates two task and starts multi-tasking */
int main(void)
{
task t1 = {1*SCALE,5*SCALE};
task t2 = {2*SCALE,6*SCALE};
task t3 = {3*SCALE,10*SCALE};
task t4 = {5*SCALE,15*SCALE};
OSInit();
OSTaskCreateExt(task1,
&t1,
(void *)&task1_stk[TASK_STACKSIZE-1],
TASK1_PRIORITY,
TASK1_PRIORITY,
task1_stk,
TASK_STACKSIZE,
NULL,
0,
t1.period);
OSTaskCreateExt(task2,
&t2,
(void *)&task2_stk[TASK_STACKSIZE-1],
TASK2_PRIORITY,
TASK2_PRIORITY,
task2_stk,
TASK_STACKSIZE,
NULL,
0,
t2.period);
OSTaskCreateExt(task3,
&t3,
(void *)&task3_stk[TASK_STACKSIZE-1],
TASK3_PRIORITY,
TASK3_PRIORITY,
task3_stk,
TASK_STACKSIZE,
NULL,
0,
t3.period);
OSTaskCreateExt(task4,
&t4,
(void *)&task4_stk[TASK_STACKSIZE-1],
TASK4_PRIORITY,
TASK4_PRIORITY,
task4_stk,
TASK_STACKSIZE,
NULL,
0,
t4.period);
printf("======= EDF Task Set 2 { t1(1,5) , t2(2,6) , t3(3,10) , t4(5,15) }=============\n");
printf("------------------------------------------------------------------------------\n");
printf("Current Time Event From Task ID To Task ID Response Time\n");
printf("------------------------------------------------------------------------------\n");
OSTimeSet(0);
OSStart();
return 0;
}
/* The main function creates two task and starts multi-tasking */
int main(void)
{
task t1 = {1*SCALE,5*SCALE};
task t2 = {2*SCALE,8*SCALE};
task t3 = {3*SCALE,10*SCALE};
OSInit();
OSTaskCreateExt(task1,
&t1,
(void *)&task1_stk[TASK_STACKSIZE-1],
TASK1_PRIORITY,
TASK1_PRIORITY,
task1_stk,
TASK_STACKSIZE,
NULL,
0,
t1.period
);
OSTaskCreateExt(task2,
&t2,
(void *)&task2_stk[TASK_STACKSIZE-1],
TASK2_PRIORITY,
TASK2_PRIORITY,
task2_stk,
TASK_STACKSIZE,
NULL,
0,
t2.period
);
OSTaskCreateExt(task3,
&t3,
(void *)&task3_stk[TASK_STACKSIZE-1],
TASK3_PRIORITY,
TASK3_PRIORITY,
task3_stk,
TASK_STACKSIZE,
NULL,
0,
t3.period
);
OSTaskCreateExt(aptask,
NULL,
(void *)&aptask_stk[TASK_STACKSIZE-1],
APTASK_PRIORITY,
APTASK_PRIORITY,
aptask_stk,
TASK_STACKSIZE,
NULL,
0,
65535
);
printf("============ CUS Task Set 1 { t1(1,5) , t2(2,8) , t3(3,10) }==================\n");
printf("========================= CUS Server Size = 2/8 ==============================\n");
printf("------------------------------------------------------------------------------\n");
printf("Current Time Event From Task ID To Task ID Response Time\n");
printf("------------------------------------------------------------------------------\n");
OSTimeSet(0);
OSStart();
return 0;
}
