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);
}
}
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);
}
}
/**
* @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);
}
}
/*
*********************************************************************************************************
* 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);
}
}
/*
*********************************************************************************************************
* App_StartTask()
*
* Description : 系统任务初始化
*
* Argument(s) : pdata.
*
* Return(s) : none.
*********************************************************************************************************
*/
static void App_StartTask(void *pdata)
{
(void)pdata;
//创建事件
App_EventCreate();
//系统滴答设置
SysTick_Configure();
//机器人系统初始化
RobotSystemInit();
//创建任务
App_TaskCreate();
//挂起任务
OSTaskSuspend(4); //超声波避障任务
OSTaskSuspend(5); //机器人防跌落(PD: Prevent Drop)
OSTaskSuspend(6); //机器人动作任务挂起和恢复
// OSTaskSuspend(7); //GLWP: Get the Legs and Waist Position//储存膝关节位置信息，用于指导机器人摆臂
// OSTaskSuspend(8); //串口接收任务
// OSTaskSuspend(9); //动作执行任务(RW: Robot Walk)
// OSTaskSuspend(10); //动作步骤任务(RFS: Robot Forward Step)
// OSTaskSuspend(11); //动作步骤任务(RBS: Robot Backward Step)
// OSTaskSuspend(12); //右臂复位任务(RRA: Reset Right Arm)
// OSTaskSuspend(13); //左臂复位任务(RLA: Reset Left Arm)
// OSTaskSuspend(14); //右摆臂任务(SRA: Swing Right Arm)
// OSTaskSuspend(15); //左摆臂任务(SLA: Swing Left Arm)
// OSTaskSuspend(16); //摆腰任务(SW: Swing Waist)
OSTaskSuspend(17); //左右手腕和头部转动任务（SteerWork：Steer control）
// OSTaskSuspend(18); //眼睛任务(EE: Eye Expression)
// OSTaskSuspend(19); //LED任务(LED:decorative lighting)
// OSTaskSuspend(20); //LED任务(LED:decorative lighting)
//挂起自己
OSTaskDel(OS_PRIO_SELF);
}
static void App_TaskStart (void *p_arg)
{
OS_ERR os_err;
(void)p_arg; /* See Note #1. */
BSP_Init(); /* Start BSP and tick initialization. */
BSP_Tick_Init(); /* Start Tick Initialization. */
BSP_UART_Init(BSP_UART_DEFAULT, /* Start UART Initialization */
BSP_BUSCLK,
9600);
BSP_LCD_Init(); /* Initialize the seven-segment display panel. */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&os_err); /* Compute CPU capacity with no task running */
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN
CPU_IntDisMeasMaxCurReset();
#endif
APP_TRACE_INFO(("Creating Application Events...\n\r"));
App_ObjCreate(); /* Create Applicaton kernel objects. */
APP_TRACE_INFO(("Creating Application Tasks...\n\r"));
App_TaskCreate(); /* Create Application tasks. */
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
OSTimeDlyHMSM(0, 0, 2, 0,
OS_OPT_TIME_HMSM_STRICT, &os_err);
// BSP_UART_Send_String(BSP_UART_1,
// "Hello\n");
uart_printf("Hello world\n");
OSTimeDly(10, OS_OPT_TIME_HMSM_STRICT, &os_err);
uart_printf("os_err = %d\n", os_err);
// while (BSP_SW_Read (BSP_SW_1) != DEF_ON) {
// OSTimeDly(1, OS_OPT_TIME_HMSM_STRICT, &os_err);
// }
// BSP_LED_Toggle(BSP_LED_RED);
//
// BSP_UART_Send_String(BSP_UART_1,
// "Hello\n");
//
// while (BSP_SW_Read (BSP_SW_1) == DEF_OFF) {
// OSTimeDly(1, OS_OPT_TIME_HMSM_STRICT, &os_err);
// }
}
}
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);
}
}
/* ------------------------------------------------------------------------------------------------------
* 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 App_TaskStart (void *p_arg)
{
OS_ERR os_err;
(void)p_arg; /* See Note #1. */
BSP_Init(); /* Start BSP and tick initialization. */
BSP_Tick_Init(); /* Start Tick Initialization. */
BSP_LCD_Init(); /* Initialize the seven-segment display panel. */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&os_err); /* Compute CPU capacity with no task running */
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN
CPU_IntDisMeasMaxCurReset();
#endif
APP_TRACE_INFO(("Creating Application Events...\n\r"));
App_ObjCreate(); /* Create Applicaton kernel objects. */
APP_TRACE_INFO(("Creating Application Tasks...\n\r"));
App_TaskCreate(); /* Create Application tasks. */
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
BSP_LED_Toggle(BSP_LED_RED);
OSTimeDlyHMSM(0, 0, 0, 200,
OS_OPT_TIME_HMSM_STRICT, &os_err);
BSP_LED_Toggle(BSP_LED_GREEN);
OSTimeDlyHMSM(0, 0, 0, 200,
OS_OPT_TIME_HMSM_STRICT, &os_err);
}
}
/*
*********************************************************************************************************
* 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) ;
}
/*
*********************************************************************************************************
* 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 */
;
}
}
/*
*********************************************************************************************************
* 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) ;
}
/*
*********************************************************************************************************
* 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-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;
/* Use 48MHZ HFXO as core clock frequency */
CMU_ClockSelectSet(cmuClock_HF, cmuSelect_HFXO);
/* Initialize DK board register access */
/* This demo currently only works in EBI mode */
BSP_Init(BSP_INIT_DEFAULT);
/* If first word of user data page is non-zero, enable eA Profiler trace */
BSP_TraceProfilerSetup();
/* Setup SysTick Timer for 10 msec interrupts */
if (SysTick_Config(CMU_ClockFreqGet(cmuClock_CORE) / 1000))
{
while (1) ;
}
/* 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();
/* Enable EFM32LG_DK3650 RS232/UART switch */
BSP_PeripheralAccess(BSP_RS232_UART, true);
UART1_SerialInit();
UART1_SerialCrLf(1);
/* Initialize the TFT stdio retarget module. */
RETARGET_TftInit();
RETARGET_TftCrLf(0);
osVersion3 = OSVersion();
osVersion1 = osVersion3 / 10000;
osVersion3 -= osVersion1 * 10000;
osVersion2 = osVersion3 / 100;
osVersion3 -= osVersion2 * 100;
osVersion3 %= 100;
printf("\n*************************************");
printf("\n uC/OS-II v%d.%02d.%02d on EFM32 DK ",
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 is running on ");
printf("\n Silicon Labs EFM32 ");
printf("\n www.silabs.com \n");
printf("\nDescription:");
printf("\n\nTask1: LED blink task");
printf("\n\nTask2: Receives characters from serial and posts message to Task3");
printf("\n\nTask3: Receives message from Task2 and writes it on screen");
printf("\n\n**************************************\n");
printf("\nStart typing...\n");
/* 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 */
;
}
}
/*
*********************************************************************************************************
* 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 mailboxes */
App_MailboxCreate();
/* Enable RS232A peripheral */
BSP_PeripheralAccess(BSP_RS232_UART, true);
/* 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");
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 EFM32G_DK3550 ",
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");
/* Create application tasks */
App_TaskCreate();
/* 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 */
;
}
}
/*
*********************************************************************************************************
* 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) */
/* Use 48MHZ HFXO as core clock frequency */
CMU_ClockSelectSet(cmuClock_HF, cmuSelect_HFXO);
/* Initialize DK board register access */
/* This demo currently only works in EBI mode */
BSP_Init(BSP_INIT_DEFAULT);
/* If first word of user data page is non-zero, enable eA Profiler trace */
BSP_TraceProfilerSetup();
/* Initialize the uC/OS-III ticker */
OS_CPU_SysTickInit(CMU_ClockFreqGet(cmuClock_CORE) / 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();
UART1_SerialInit();
UART1_SerialCrLf(1);
/* Initialize tft serial */
RETARGET_SerialInit();
osVersion3 = OSVersion( &err );
osVersion1 = osVersion3 / 10000;
osVersion3 -= osVersion1 * 10000;
osVersion2 = osVersion3 / 100;
osVersion3 -= osVersion2 * 100;
osVersion3 %= 100;
printf("\n*************************************");
printf("\n uC/OS-III v%d.%02d.%02d on EFM32 DK ",
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 is running on ");
printf("\n Energy Micro EFM32 ");
printf("\n www.energymicro.com \n");
printf("\nDescription:");
printf("\n\nTask1: LED blink task");
printf("\n\nTask2: Receives characters from serial and posts message to Task3");
printf("\n\nTask3: Receives message from Task2 and writes it on screen");
printf("\n\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) ;
}