void Task1_Task(void * ptr_args)
{
INT8U err;
TASK1_MBOX_TypeDef * mbox;
//
// The first task to run must call this function
//
OS_CPU_SysTickInit(1000);
LEDS_Off(LED_0);
LEDS_Off(LED_1);
for (;;){
mbox = (TASK1_MBOX_TypeDef *) OSMboxPend(task1_mbox, OS_MBOX_TIMEOUT_MAX, &err);
if (err == OS_ERR_NONE){
if (mbox->action == 0x01){
LEDS_Toggle(LED_0);
}else{
LEDS_Toggle(LED_1);
}
}
}
}
static void App_TaskStart(void* p_arg)//负责读取传感器
{
(void) p_arg;
//初始化ucos时钟节拍
OS_CPU_SysTickInit(); /* Initialize the SysTick. */
//使能ucos 的统计任务
#if (OS_TASK_STAT_EN > 0)
//----统计任务初始化函数
OSStatInit(); /* Determine CPU capacity. */
#endif
LED_Init();
//建立其他的任务
//LED_P8x16Str(0,0,"Hello",0);
//LED_P8x16Str(0,1,"Dolphin",0);
//AD9850_Write_Serial(10000,0,0);
App_TaskCreate();
while (1)
{
MPU6050_Read_GYRO(&MPU6050_g); //780us
MPU6050_Read_ACCEL(&MPU6050_a); //
HMC5883L_MultRead(&hmc5883l); //
LED_N_STATUS(1,1);
AHRS_position(&hmc5883l,&MPU6050_a,&MPU6050_g,&EulerAngle_Current);//164us for fast invsqrt 256us for 1.0 / sqrt.
//350us with EulerAngle
//IMU_getYawPitchRoll(&EulerAngle_Current);//178us
LED_N_STATUS(1,0);
OSTimeDlyHMSM(0, 0, 0, 10);//5ms
//LED_N_STATUS(1,1);
}
}
/*
*********************************************************************************************************
* App_TaskStart()
*
* 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.
*
* Argument(s) : p_arg is the argument passed to 'App_TaskStart()' by 'OSTaskCreateExt()'.
*
* Return(s) : none.
*
* Caller(s) : This is a task.
*
* Notes : (1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*********************************************************************************************************
*/
static void App_TaskStart (void *p_arg)
{
(void)p_arg; /* See Note #1 */
BSP_Init(); /* Initialize BSP functions */
OS_CPU_SysTickInit(); /* Initialize the SysTick */
#if (OS_TASK_STAT_EN > 0)
OSStatInit(); /* Determine CPU capacity */
#endif
MEM_Init();
End_Init();
GUI_Init();
TIME_Init();
MENU_Init();
App_EventCreate(); /* Create application events */
App_TaskCreate(); /* Create application tasks */
while (DEF_TRUE) { /* Task body, always written as an infinite loop */
beep();
OSTimeDlyHMSM(0, 0, 0, 50);
}
}
static void App_TaskStart(void* p_arg)
{
(void) p_arg;
//初始化ucos时钟节拍
OS_CPU_SysTickInit(); /* Initialize the SysTick. */
//使能ucos 的统计任务
#if (OS_TASK_STAT_EN > 0)
//----统计任务初始化函数
OSStatInit(); /* Determine CPU capacity. */
#endif
//建立其他的任务
App_TaskCreate();
while (1)
{
//1秒一次循环
OSTimeDlyHMSM(0, 0,10, 0);
}
}
/*************************************************************************
* 野火嵌入式开发工作室
*
* 函数名称：Task_Start
* 功能说明：启动任务,初始化滴答时钟
* 参数说明：p_arg 没用
* 函数返回：无
* 修改时间：2012-2-10
* 备 注：
*************************************************************************/
void Task_Start(void *p_arg)
{
/**************** 初始化 系统滴答时钟 ：用于定时任务调度****************/
u32 cnts;
cnts = core_clk_mhz * ( (u32)1000000u / (u32)OS_TICKS_PER_SEC ); /* Determine nbr SysTick increments. */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
#if (OS_TASK_STAT_EN > 0)
/* 开启统计任务 */
OSStatInit();
#endif
(void)p_arg; // 'p_arg' 并没有用到，防止编译器提示警告
/******************* 用户任务区 ************************/
u32 i = 0;
OLED_Init();
OLED_P6x8Str(0,0,"This is a test",0);
while(1)
{
sprintf(mystr,"count:%d",i++);
OLED_P6x8Str(0,3,mystr,0);
OSTimeDlyHMSM(0, 0, 0, 10);
}
}
/**
* @brief The startup task. The uC/OS-II ticker should only be initialize
* once multitasking starts.
* @param p_arg Argument passed to 'App_TaskStart()' by 'OSTaskCreate()'.
* @retval None
*/
static void App_TaskStart (void *p_arg)
{
(void)p_arg;
/* Initialize BSP functions. */
BSP_Init();
/* Initialize the SysTick. */
OS_CPU_SysTickInit();
#if (OS_TASK_STAT_EN > 0)
/* Determine CPU capacity. */
OSStatInit();
#endif
/* Create application events. */
App_EventCreate();
/* Create application tasks. */
App_TaskCreate();
while (DEF_TRUE)
{
STM_EVAL_LEDToggle(LED4);
OSTimeDlyHMSM(0, 0, 0, led_dly_cout);
STM_EVAL_LEDToggle(LED6);
OSTimeDlyHMSM(0, 0, 0, led_dly_cout);
STM_EVAL_LEDToggle(LED5);
OSTimeDlyHMSM(0, 0, 0, led_dly_cout);
STM_EVAL_LEDToggle(LED3);
OSTimeDlyHMSM(0, 0, 0, led_dly_cout);
}
}
void main(void)
{
OS_ERR error;
HAL_Init();
TP_USART1.init(0);
Debug_Init( (struct TRANSPORT_IF*)&TP_USART1 );
CPU_IntDis();
OSInit(&error);
Launcher_Exec();
/////////////////////////////////////////////////////////////////
RCC_ClocksTypeDef RCC_Clocks;
RCC_GetClocksFreq(&RCC_Clocks);
OS_CPU_SysTickInit( (RCC_Clocks.HCLK_Frequency/OSCfg_TickRate_Hz) - 1 );
/////////////////////////////////////////////////////////////////
OSStart(&error);
}
void BSP_OSTickInit (void)
{
CPU_INT32U cpu_clk_freq;
cpu_clk_freq = BSP_ClkFreqGet(BSP_CLK_ID_HCLK); /* Determine SysTick reference freq. */
OS_CPU_SysTickInit(cpu_clk_freq); /* Init uC/OS periodic time src (SysTick). */
}
static void startup_task()
{
//RCC_ClocksTypeDef rcc_clocks;
//RCC_GetClocksFreq(&rcc_clocks);
//SysTick_Config(rcc_clocks.HCLK_Frequency / OS_TICKS_PER_SEC);
led_config();
OS_CPU_SysTickInit();
OSTaskCreate(task1, (void *)0, &task1_stk[TASK1_STK_SIZE - 1], 7);
OSTaskCreate(task2, (void *)0, &task2_stk[TASK2_STK_SIZE - 1], 6);
//OSTaskDel(OS_PRIO_SELF);
}
/*
*********************************************************************************************************
* BSP_Tick_Init()
*
* Description : Initialize all the peripherals that required OS Tick services (OS initialized)
*
* Argument(s) : none.
*
* Return(s) : none.
*
* Caller(s) : Application.
*
* Note(s) : none.
*********************************************************************************************************
*/
void BSP_Tick_Init (void)
{
CPU_INT32U cpu_clk_freq;
CPU_INT32U cnts;
cpu_clk_freq = BSP_CPU_ClkFreq(); /* Determine SysTick reference freq. */
#if (OS_VERSION >= 30000u)
cnts = cpu_clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments. */
#else
cnts = cpu_clk_freq / (CPU_INT32U)OS_TICKS_PER_SEC; /* Determine nbr SysTick increments. */
#endif
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
}
void BSP_Start (void)
{
CPU_INT32U cnts;
CPU_INT32U cpu_freq;
cpu_freq = CSP_PM_CPU_ClkFreqGet(); /* Get the CPU clock */
#if (OS_VERSION >= 30000u)
cnts = (cpu_freq / OSCfg_TickRate_Hz); /* Calculate the number of SysTick counts */
#else
cnts = (cpu_freq / OS_TICKS_PER_SEC);
#endif
OS_CPU_SysTickInit(cnts); /* Call the Generic OS Systick initialization */
}
/*
*********************************************************************************************************
* BSP_Tick_Init()
*
* Description : Initialize all the peripherals that required OS Tick services (OS initialized)
*
* Argument(s) : none.
*
* Return(s) : none.
*
* Caller(s) : Application.
*
* Note(s) : none.
*********************************************************************************************************
*/
void BSP_Tick_Init (void)
{
CPU_INT32U cpu_clk_freq;
CPU_INT32U cnts;
cpu_clk_freq = BSP_CPU_ClkFreq(); /* Determine SysTick reference freq. */
#if (OS_VERSION >= 30000u)
cnts = cpu_clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments. */
#else
cnts = cpu_clk_freq / (CPU_INT32U)OS_TICKS_PER_SEC; /* Determine nbr SysTick increments. */
#endif
OS_CPU_SysTickInit(cnts); /* 这里默认的是最高优先级，根据实际情况修改 */
// SysTick_Config(cnts); //这里默认的是最低优先级
}
static void App_TaskStart(void* p_arg)
{
(void) p_arg;
OS_CPU_SysTickInit(); /* Initialize the SysTick. */
#if (OS_TASK_STAT_EN > 0)
OSStatInit(); /* Determine CPU capacity. */
#endif
App_TaskCreate();
while (1)
{
// LED_LED1_ON();
// OSTimeDlyHMSM(0, 0, 0, 100);
// LED_LED1_OFF();
OSTimeDlyHMSM(0, 0, 0, 1);
}
}
/* QF callbacks ============================================================*/
void QF_onStartup(void) {
QF_CRIT_STAT_TYPE cpu_sr;
QF_CRIT_ENTRY(cpu_sr); /* DISABLED interrupts */
/* initialize the system clock tick... */
OS_CPU_SysTickInit(SystemCoreClock / OS_TICKS_PER_SEC);
/* set priorities of ALL ISRs used in the system */
NVIC_SetPriority(EXTI0_IRQn, 0xFFU);
/* ... */
/* enable IRQs in the NVIC... */
NVIC_EnableIRQ(EXTI0_IRQn);
/* NOTE: do not exit the critical section and leave interrupts DISABLED */
(void)cpu_sr; /* avoid compiler warning about unused variable */
}
void AppTaskStart (void *p_arg)
{
CPU_INT32U cpu_clk_freq;
CPU_INT32U cnts;
(void)p_arg;
cpu_clk_freq = BSP_CPU_ClkFreq(); /* Determine SysTick reference freq. */
cnts = cpu_clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
BSP_Init(); /* Initialize BSP functions */
main_loop();
}
/* ------------------------------------------------------------------------------------------------------
* App_TaskStart()
*
* Description : Task start function.
*
* Argument(s) : none.
*
*/
static void App_TaskStart (void *p_arg)
{
(void)p_arg;
OS_CPU_SysTickInit(SysCtlClockGet() / OS_TICKS_PER_SEC); /* Initialize the SysTick.*/
lwIP_init(); /* Initialise lwIP stack. */
App_EventCreate();
App_TaskCreate();
while(1)
{
OSTaskSuspend(OS_PRIO_SELF); /* Suspend Start Task.*/
// OSTimeDlyHMSM(0, 0, 0, 2); /* Task delay 2ms.*/
}
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U clk_freq;
CPU_INT32U ulPHYMR0;
CPU_INT32U cnts;
OS_ERR err;
(void)&p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
SysCtlPeripheralEnable(SYSCTL_PERIPH_ETH); /* Enable and Reset the Ethernet Controller. */
SysCtlPeripheralReset(SYSCTL_PERIPH_ETH);
ulPHYMR0 = EthernetPHYRead(ETH_BASE, PHY_MR0); /* Power Down PHY */
EthernetPHYWrite(ETH_BASE, PHY_MR0, ulPHYMR0 | PHY_MR0_PWRDN);
SysCtlPeripheralDeepSleepDisable(SYSCTL_PERIPH_ETH);
clk_freq = BSP_CPUClkFreq(); /* Determine SysTick reference freq. */
cnts = clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
CPU_TS_TmrFreqSet(clk_freq);
// #if(MICROSD_EN == 1)
/* Mount the file system, using logical disk 0 */
//f_mount(0, &g_sFatFs);
/* Create a new log.txt file */
//CmdLineProcess(g_cCmdBuf);
// #endif
/* Enable Wheel ISR Interrupt */
AppRobotMotorDriveSensorEnable();
/*
Call your API here
*/
OSTaskCreateNew((OS_TCB *)&AppTaskOneTCB, (CPU_CHAR *)"App Task One", (OS_TASK_PTR ) AppTaskOne, (void *) 0, (OS_PRIO ) APP_TASK_ONE_PRIO, (CPU_STK *)&AppTaskOneStk[0], (CPU_STK_SIZE) APP_TASK_ONE_STK_SIZE / 10u, (CPU_STK_SIZE) APP_TASK_ONE_STK_SIZE, (OS_MSG_QTY ) 0u, (OS_TICK ) 0u, (void *)(CPU_INT32U) 1, (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err, (OS_PERIOD) 5000);
OSTaskCreateNew((OS_TCB *)&AppTaskTwoTCB, (CPU_CHAR *)"App Task Two", (OS_TASK_PTR ) AppTaskTwo, (void *) 0, (OS_PRIO ) APP_TASK_TWO_PRIO, (CPU_STK *)&AppTaskTwoStk[0], (CPU_STK_SIZE) APP_TASK_TWO_STK_SIZE / 10u, (CPU_STK_SIZE) APP_TASK_TWO_STK_SIZE, (OS_MSG_QTY ) 0u, (OS_TICK ) 0u, (void *) (CPU_INT32U) 2, (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err,(OS_PERIOD) 7000);
OSTaskCreateNew((OS_TCB *)&AppTaskThreeTCB, (CPU_CHAR *)"App Task Three", (OS_TASK_PTR ) AppTaskThree, (void *) 0, (OS_PRIO ) APP_TASK_THREE_PRIO, (CPU_STK *)&AppTaskThreeStk[0], (CPU_STK_SIZE) APP_TASK_THREE_STK_SIZE / 10u, (CPU_STK_SIZE) APP_TASK_THREE_STK_SIZE, (OS_MSG_QTY ) 0u, (OS_TICK ) 0u, (void *)(CPU_INT32U) 3, (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err, (OS_PERIOD) 7000);
OSTaskCreateNew((OS_TCB *)&AppTaskFourTCB, (CPU_CHAR *)"App Task Four", (OS_TASK_PTR ) AppTaskFour, (void *) 0, (OS_PRIO ) APP_TASK_FOUR_PRIO, (CPU_STK *)&AppTaskFourStk[0], (CPU_STK_SIZE) APP_TASK_FOUR_STK_SIZE / 10u, (CPU_STK_SIZE) APP_TASK_FOUR_STK_SIZE, (OS_MSG_QTY ) 0u, (OS_TICK ) 0u, (void *) (CPU_INT32U) 4, (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err,(OS_PERIOD) 10000);
OSTaskDel((OS_TCB *)0, &err);
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_Init
* Description : This function is used to setup the basic services, it should
* be called first in function main. Return kStatus_OSA_Success if services
* are initialized successfully, otherwise return kStatus_OSA_Error.
*
*END**************************************************************************/
osa_status_t OSA_Init(void)
{
OS_ERR err;
OSInit(&err);
if (OS_ERR_NONE == err)
{
#if OS_CFG_SCHED_ROUND_ROBIN_EN > 0u
/* Enable task round robin. */
OSSchedRoundRobinCfg((CPU_BOOLEAN)1, 0, &err);
#endif
OS_CPU_SysTickInit(SystemCoreClock/(uint32_t)OSCfg_TickRate_Hz);
return kStatus_OSA_Success;
}
else
{
return kStatus_OSA_Error;
}
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U cpu_clk_freq;
CPU_INT32U cnts;
OS_ERR err;
CPU_TS ts;
(void)p_arg;
OSSemCreate(&AppSem, "Test Sem", 0, &err);
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
cpu_clk_freq = BSP_CPU_ClkFreq(); /* Determine SysTick reference freq. */
cnts = cpu_clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_IntDisMeasMaxCurReset();
BSP_LED_Off(0);
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
BSP_LED_Toggle(0);
#if 0
OSTimeDlyHMSM(0, 0, 0, 100,
OS_OPT_TIME_HMSM_STRICT,
&err);
#endif
OSSemPend(&AppSem,
100,
OS_OPT_PEND_BLOCKING,
&ts,
&err);
}
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U clk_freq;
CPU_INT32U cnts;
OS_ERR err;
(void)&p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
clk_freq = BSP_CPU_ClkFreq(); /* Determine SysTick reference freq. */
cnts = clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
CPU_TS_TmrFreqSet(clk_freq);
#if (OS_CFG_STAT_TASK_EN > 0u)
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_IntDisMeasMaxCurReset();
App_ProbeInit();
BSP_LED_On(1);
BSP_LED_Off(2);
AppDisplayTaskCreate();
while (DEF_ON) { /* Task body, always written as an infinite loop. */
OSTimeDlyHMSM(0u, 0u, 1u, 0u,
OS_OPT_TIME_HMSM_STRICT,
&err);
BSP_LED_Toggle(0); /* Toggle both LEDs every second. */
bLED[0] ^= DEF_TRUE;
bLED[1] ^= DEF_TRUE;
}
}
int main(void)
{
OS_CPU_SysTickInit(CLKPWR_GetCLK(CLKPWR_CLKTYPE_CPU) / 1000 - 1);
Board_Init();
//KeyInit();
GUI_Init();
Display_Logo();
/* init phy */
PHY_Init(optionSaveStruct.ipConfig.mac);
M25P128_SSP_Init();
GT21L16S2W_SSP_Init();
#if FRMB_DEBUG
LPC_Uart_Init(1200*(0x01<<optionSaveStruct.uartConfig[2]),1200*(0x01<<optionSaveStruct.uartConfig[3]),1200*(0x01<<optionSaveStruct.uartConfig[4]),1200*(0x01<<optionSaveStruct.uartConfig[5]));
#endif
System_Time_Init(); /* Init RTC */
OSInit();
OSTaskCreate ( TaskStart,(void *)0,&GstkStart[TASK_START_STK_SIZE-1],TASK_START_PRIO ); /* Initialize the start task */
/* Start OS Schedule */
OSStart(); /* Start uC/OS-II ??uC/OS-II */
return(0);
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U cpu_clk_freq;
CPU_INT32U cnts;
OS_ERR err;
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init();
cpu_clk_freq = BSP_CPU_ClkFreq();
cnts = cpu_clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz;/* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_IntDisMeasMaxCurReset();
//init USART1
BSP_Ser_Init(9600);
BSP_Ser_WrStr("start");
//init ADC1, ACC sensor
TERM_init_adc();
//init PWM
TERM_init_pwm();
//AppTaskCreate(); /* Create application tasks */
TERM_createTask();
}
static void App_TaskStart (void *p_arg)
{
(void)p_arg; /* Initialize BSP functions. */
OS_CPU_SysTickInit(); /* Initialize the SysTick. */
BSP_Init();
#if (OS_TASK_STAT_EN > 0)
OSStatInit(); /* Determine CPU capacity. */
#endif
/* 在此可创建事件 */
/* 在此可创建其他任务 */
//App_TaskCreate();
LED_GPIO_Conf();
while (1)
{
LED1(On);
OSTimeDly(300);
LED1(Off);
OSTimeDly(300);
MainTask();
}
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U freq;
CPU_INT32U cnts;
OS_ERR err;
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
freq = BSP_CPU_ClkFreq(); /* Determine SysTick reference freq. */
cnts = freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN
CPU_IntDisMeasMaxCurReset();
#endif
AppEventCreate(); /* Create Application Kernel objects */
AppTaskCreate(); /* Create application tasks */
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
OSTimeDlyHMSM(0, 0, 0, 200, /* Delay task for 200 ms */
OS_OPT_TIME_HMSM_STRICT,
&err);
}
}
static void AppTaskStart(void *p_arg)
{
CPU_INT08U led = 1;
CPU_INT08U dir = 0;
OS_ERR os_err;
Mem_Init(); /* Init memory management. */
OS_CPU_SysTickInit(APP_CPU_CLK_FREQ / OS_CFG_TICK_RATE_HZ - 1u); /* Configure system tick. */
BSP_Led_On(1u);
while (DEF_TRUE) {
if(dir == 0) {
OSTimeDlyHMSM(0, 0, 0, 100, OS_OPT_TIME_HMSM_STRICT, &os_err);
BSP_Led_Off(0);
OSTimeDlyHMSM(0, 0, 0, 50, OS_OPT_TIME_HMSM_STRICT, &os_err);
BSP_Led_On(++led);
if(led == 8) {
dir = 1;
}
} else {
OSTimeDlyHMSM(0, 0, 0, 100, OS_OPT_TIME_HMSM_STRICT, &os_err);
BSP_Led_Off(0);
OSTimeDlyHMSM(0, 0, 0, 50, OS_OPT_TIME_HMSM_STRICT, &os_err);
BSP_Led_On(--led);
if(led == 1) {
dir = 0;
}
}
}
}
/*
*********************************************************************************************************
* AppTaskStart()
*
* Description : The startup task. The uC/OS-III ticker should only be initialize once multitasking starts.
*
* Argument(s) : p_arg Argument passed to 'AppTaskStart()' by 'OSTaskCreate()'.
*
* Return(s) : none.
*
* Note(s) : (1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*
* (2) Interrupts are enabled once the task starts because the I-bit of the CCR register was
* set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************
*/
static void App_TaskStart(void *p_arg)
{
uint16_t osVersion1, osVersion2, osVersion3;
OS_ERR err = OS_ERR_NONE;
(void)p_arg; /* Note(1) */
/* Initialize BSP functions */
BSPOS_Init();
/* Initialize the uC/OS-III ticker */
OS_CPU_SysTickInit(OS_CPU_SysTickClkFreq() / OS_CFG_TICK_RATE_HZ);
#if (OS_TASK_STAT_EN > 0U)
/* Determine CPU capacity */
OSStatInit();
#endif
/* Create application tasks */
App_TaskCreate();
/* Create application mailboxes */
App_MailboxCreate();
/* Initialize LCD */
SegmentLCD_Init(true);
/* Turn gecko symbol ON */
SegmentLCD_Symbol(LCD_SYMBOL_GECKO, 1);
/* Turn EFM32 symbol ON */
SegmentLCD_Symbol(LCD_SYMBOL_EFM32, 1);
/* Write welcome message on LCD */
SegmentLCD_Write("uC/OS-3");
/* As USART connectors are not available on the STK by default,
* therefore printf() functions are turned off.
* Uncomment the macro definition in includes.h if serial
* is connected to your STK board (USART1 or LEUART0)! */
#ifdef USART_CONNECTED
/* Initialize serial port */
RETARGET_SerialInit();
RETARGET_SerialCrLf(1);
osVersion3 = OSVersion( &err );
osVersion1 = osVersion3 / 10000;
osVersion3 -= osVersion1 * 10000;
osVersion2 = osVersion3 / 100;
osVersion3 -= osVersion2 * 100;
osVersion3 %= 100;
/* Write welcome message on serial */
printf("\n*****************************************************************************");
printf("\n uC/OS-III v%d.%02d.%02d on Energy Micro EFM32 STK ",
osVersion1, osVersion2, osVersion3 );
printf("\n Demo Application \n");
printf("\n uC/OS-III ");
printf("\n \"The real time kernel\" ");
printf("\n www.micrium.com ");
printf("\n\n is running on ");
printf("\n\n Energy Micro EFM32 ");
printf("\n \"The world's most energy friendly microcontrollers\" ");
printf("\n www.energymicro.com \n");
printf("\nDescription:");
printf("\nTask1: LED blink task");
printf("\nTask2: Receives characters from serial and posts message to Task3");
printf("\nTask3: Receives message from Task2 and writes it on LCD and serial.");
printf("\n*****************************************************************************\n");
printf("\nStart typing...\n");
#endif /* end of #ifndef USART_CONNECTED */
/* Suspend this task as it is only used once in one Reset cycle */
OSTaskSuspend(&AppTaskStartTCB, &err);
/* Error had occured if code execution reached this point as suspend calls the scheduler
* that performs a context switch */
while (1U) ;
}
/*
*********************************************************************************************************
* AppTaskStart()
*
* Description : The startup task. The uC/OS-III ticker should only be initialize once multitasking starts.
*
* Argument(s) : p_arg Argument passed to 'AppTaskStart()' by 'OSTaskCreate()'.
*
* Return(s) : none.
*
* Note(s) : (1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*
* (2) Interrupts are enabled once the task starts because the I-bit of the CCR register was
* set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************
*/
static void App_TaskStart(void *p_arg)
{
uint16_t osVersion1, osVersion2, osVersion3;
OS_ERR err = OS_ERR_NONE;
(void)p_arg; /* Note(1) */
/* Initialize BSP functions */
BSPOS_Init();
/* Initialize the uC/OS-III ticker */
OS_CPU_SysTickInit(OS_CPU_SysTickClkFreq() / OS_CFG_TICK_RATE_HZ);
#if (OS_TASK_STAT_EN > 0U)
/* Determine CPU capacity */
OSStatInit();
#endif
/* Create application tasks */
App_TaskCreate();
/* Create application mailboxes */
App_MailboxCreate();
/* Enable RS232A peripheral */
BSP_PeripheralAccess(BSP_RS232A, true);
/* Initialize Serial */
RETARGET_SerialInit();
/* Map LF to CRLF */
RETARGET_SerialCrLf(1);
/* Initialize LCD */
SegmentLCD_Init(true);
/* Turn gecko symbol ON */
SegmentLCD_Symbol(LCD_SYMBOL_GECKO, 1);
/* Turn EFM32 symbol ON */
SegmentLCD_Symbol(LCD_SYMBOL_EFM32, 1);
/* Write welcome message on LCD */
SegmentLCD_Write("uC/OS-3");
osVersion3 = OSVersion( &err );
osVersion1 = osVersion3 / 10000;
osVersion3 -= osVersion1 * 10000;
osVersion2 = osVersion3 / 100;
osVersion3 -= osVersion2 * 100;
osVersion3 %= 100;
/* Write welcome message on serial */
printf("\n*****************************************************************************");
printf("\n uC/OS-III v%d.%02d.%02d on Energy Micro EFM32 DVK ",
osVersion1, osVersion2, osVersion3 );
printf("\n Demo Application \n");
printf("\n uC/OS-III ");
printf("\n \"The real time kernel\" ");
printf("\n www.micrium.com ");
printf("\n\n is running on ");
printf("\n\n Energy Micro EFM32 ");
printf("\n \"The world's most energy friendly microcontrollers\" ");
printf("\n www.energymicro.com \n");
printf("\nDescription:");
printf("\nTask1: LED blink task");
printf("\nTask2: Receives characters from serial and posts message to Task3");
printf("\nTask3: Receives message from Task2 and writes it on LCD and serial ");
printf("\n*****************************************************************************\n");
printf("\nStart typing...\n");
/* Suspend this task as it is only used once in one Reset cycle */
OSTaskSuspend(&AppTaskStartTCB, &err);
/* Error had occured if code execution reached this point as suspend calls the scheduler
* that performs a context switch */
while (1U) ;
}
/*
*********************************************************************************************************
* 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 initialization.
*
* Argument(s) : none.
*
* Return(s) : none.
*********************************************************************************************************
*/
int main(void)
{
uint16_t osVersion1, osVersion2, osVersion3;
#if (OS_TASK_NAME_EN > 0)
CPU_INT08U err;
#endif
/* Disable all interrupts until we are ready to accept
* them. */
CPU_IntDis();
/* Chip errata */
CHIP_Init();
/* setup SW0 for energyAware Profiler */
setupSWO();
/* Initialize BSP functions */
BSPOS_Init();
/* Initialize "uC/OS-II, The Real-Time Kernel". */
OSInit();
/* Initialize the uC/OS-II ticker */
OS_CPU_SysTickInit(CMU_ClockFreqGet(cmuClock_HFPER)/OS_TICKS_PER_SEC);
#if (OS_TASK_STAT_EN > 0)
/* Determine CPU capacity */
OSStatInit();
#endif
/* Create application tasks */
App_TaskCreate();
/* Create application mailboxes */
App_MailboxCreate();
/* Initialize LCD */
SegmentLCD_Init(true);
/* Turn gecko symbol ON */
SegmentLCD_Symbol(LCD_SYMBOL_GECKO, 1);
/* Turn EFM32 symbol ON */
SegmentLCD_Symbol(LCD_SYMBOL_EFM32, 1);
/* Write welcome message on LCD */
SegmentLCD_Write("uC/OS-2");
/* As USART connectors are not available on the STK by default,
* therefore printf() functions are turned off.
* Uncomment the macro definition in includes.h if serial
* is connected to your STK board (USART1 or LEUART0)! */
#ifdef USART_CONNECTED
/* Initialize */
RETARGET_SerialInit();
RETARGET_SerialCrLf(1);
osVersion3 = OSVersion();
osVersion1 = osVersion3 / 10000;
osVersion3 -= osVersion1 * 10000;
osVersion2 = osVersion3 / 100;
osVersion3 -= osVersion2 * 100;
osVersion3 %= 100;
/* Write welcome message on serial */
printf("\n*****************************************************************************");
printf("\n uC/OS-II v%d.%02d.%02d on Silicon Labs EFM32TG STK ",
osVersion1, osVersion2, osVersion3 );
printf("\n Demo Application \n");
printf("\n uC/OS-II ");
printf("\n \"The real time kernel\" ");
printf("\n www.micrium.com ");
printf("\n\n is running on ");
printf("\n\n Silicon Labs EFM32 ");
printf("\n \"The world's most energy friendly microcontrollers\" ");
printf("\n www.silabs.com \n");
printf("\nDescription:");
printf("\nTask1: LED blink task");
printf("\nTask2: Receives characters from serial and posts message to Task3");
printf("\nTask3: Receives message from Task2 and writes it on LCD and serial ");
printf("\n*****************************************************************************\n");
printf("\nStart typing...\n");
#endif /* end of #ifndef USART_CONNECTED */
/* Start multitasking (i.e. give control to uC/OS-II). */
OSStart();
/* OSStart() never returns, serious error had occured if
* code execution reached this point */
while(1) ;
}
bool platform_initialize(void* tcb)
{
OS_ERR osErr;
mainTcb = tcb;
SYS_Init();
GPIO_SetBit(LED_LINK_PORT, LED_LINK_PIN);
GPIO_Open(LED_LINK_PORT, GPIO_PMD_PMD8_OUTPUT, GPIO_PMD_PMD8_MASK);
#if NABTO_ENABLE_LOGGING
uart_initialize(115200);
#endif
// Initialize OS tick system
OS_CPU_SysTickInit(SYS_GetHCLKFreq() / OS_CFG_TICK_RATE_HZ);
OSSemCreate(&loggingSemaphore, NULL, 1, &osErr);
if(osErr != OS_ERR_NONE)
{
NABTO_LOG_FATAL(("Unable to create logging semaphore"));
}
NABTO_LOG_INFO(("Initializing..."));
if (RAK_DriverInit() != RAK_OK)
{
NABTO_LOG_FATAL(("Platform initialize failed!"));
}
{
char mac[6];
if (RAK_GetMacAddr(mac) != RAK_OK)
{
NABTO_LOG_FATAL(("RAK_GetMacAddr() failed!"));
}
NABTO_LOG_INFO(("MAC: %.2x:%.2x:%.2x:%.2x:%.2x:%.2x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]));
}
{
RAK_CONNECT param;
param.mode = NET_MODE_STA;
param.sec_mode = PSK_MODE_SEC;
param.ssid = wifiSsid;
param.psk = wifiKey;
param.conn_handle = wifi_callback;
if (RAK_ConnectAP(¶m) != RAK_OK)
{
NABTO_LOG_FATAL(("Wifi connect error!"));
}
}
while(linkIsUp == false); // wait for callback to set connection status
{
RAK_IPCONFIG dhcp;
if (RAK_IPConfigDHCP(&dhcp) != RAK_OK)
{
NABTO_LOG_FATAL(("DHCP error!"));
}
localAddress = dhcp.addr;
localMask = dhcp.mask;
gateway = dhcp.gw;
dnsServer = dhcp.dnsrv1;
NABTO_LOG_TRACE(("DHCP: Address=" PRI_IP " mask=" PRI_IP " gateway=" PRI_IP " DNS=" PRI_IP, PRI_IP_FORMAT(localAddress), PRI_IP_FORMAT(localMask), PRI_IP_FORMAT(gateway), PRI_IP_FORMAT(dnsServer)));
}
memset(sockets, 0, sizeof(sockets));
sendBuffer = RAK_SendMalloc(SEND_BUFFER_SIZE);
return true;
}
/*
*********************************************************************************************************
* AppTaskStart()
*
* Description : The startup task. The uC/OS-II ticker should only be initialize once multitasking starts.
*
* Argument(s) : p_arg Argument passed to 'AppTaskStart()' by 'OSTaskCreate()'.
*
* Return(s) : none.
*
* Note(s) : (1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*
* (2) Interrupts are enabled once the task starts because the I-bit of the CCR register was
* set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************
*/
static void App_TaskStart(void *p_arg)
{
(void)p_arg; /* Note(1) */
uint16_t osVersion1, osVersion2, osVersion3;
/* Initialize BSP functions */
BSPOS_Init();
/* Initialize the uC/OS-II ticker */
OS_CPU_SysTickInit(CMU_ClockFreqGet(cmuClock_HFPER)/OS_TICKS_PER_SEC);
#if (OS_TASK_STAT_EN > 0)
/* Determine CPU capacity */
OSStatInit();
#endif
/* Create application tasks */
App_TaskCreate();
/* Create application mailboxes */
App_MailboxCreate();
/* Initialize LCD */
SegmentLCD_Init(true);
/* Turn gecko symbol ON */
SegmentLCD_Symbol(LCD_SYMBOL_GECKO, 1);
/* Turn EFM32 symbol ON */
SegmentLCD_Symbol(LCD_SYMBOL_EFM32, 1);
/* Write welcome message on LCD */
SegmentLCD_Write("uC/OS-2");
/* As USART connectors are not available on the STK by default,
* therefore printf() functions are turned off.
* Uncomment the macro definition in includes.h if serial
* is connected to your STK board (USART1 or LEUART0)! */
#ifdef USART_CONNECTED
/* Initialize serial port */
RETARGET_SerialInit();
RETARGET_SerialCrLf(1);
osVersion3 = OSVersion();
osVersion1 = osVersion3 / 10000;
osVersion3 -= osVersion1 * 10000;
osVersion2 = osVersion3 / 100;
osVersion3 -= osVersion2 * 100;
osVersion3 %= 100;
/* Write welcome message on serial */
printf("\n*****************************************************************************");
printf("\n uC/OS-II v%d.%02d.%02d on Silicon Labs EFM32WG STK ",
osVersion1, osVersion2, osVersion3 );
printf("\n Demo Application \n");
printf("\n uC/OS-II ");
printf("\n \"The real time kernel\" ");
printf("\n www.micrium.com ");
printf("\n\n is running on ");
printf("\n\n Silicon Labs EFM32 ");
printf("\n \"The world's most energy friendly microcontrollers\" ");
printf("\n www.silabs.com \n");
printf("\nDescription:");
printf("\nTask1: LED blink task");
printf("\nTask2: Receives characters from serial and posts message to Task3");
printf("\nTask3: Receives message from Task2 and writes it on LCD and serial");
printf("\n*****************************************************************************\n");
printf("\nStart typing...\n");
#endif /* end of #ifndef USART_CONNECTED */
/* Suspend this task as it is only used once in one Reset cycle */
OSTaskSuspend(APP_CFG_TASK_START_PRIO);
while (1)
{/* endless loop of Start task */
;
}
}
