int main(void)
{
// Initialize BRTOS
BRTOS_Init();
////////////////////////////////////////////////////////
// Cria um gerenciador de eventos p/ dados acelerômetro
if (OSMboxCreate(&Data, NULL) != ALLOC_EVENT_OK)
{
// Oh Oh
// Não deveria entrar aqui !!!
while(1) {};
};
if(InstallTask(&System_Time,"System Time",384,31,NULL,NULL) != OK)
{
// Oh Oh
// N�o deveria entrar aqui !!!
while(1) {};
};
if(InstallTask(&Test_Task_1,"Tarefa de Teste 1",384,13,NULL,NULL) != OK)
{
// Oh Oh
// N�o deveria entrar aqui !!!
while(1) {};
};
if(InstallTask(&Test_Task_2,"Tarefa de Teste 2",384,14,NULL,NULL) != OK)
{
// Oh Oh
// N�o deveria entrar aqui !!!
while(1) {};
};
if(InstallTask(&SerialTask,"Tarefa Serial",512,10,NULL,NULL) != OK)
{
// Oh Oh
// N�o deveria entrar aqui !!!
while(1) {};
};
// Start Task Scheduler
if(BRTOSStart() != OK)
{
// Oh Oh
// N�o deveria entrar aqui !!!
for(;;) {};
};
// Infinite loop
while (1)
{
}
// Infinite loop, never return.
}
/**
\fn void BRTOS_TimerInit(INT16U timertask_stacksize)
\brief public function to start Timer Service
must be called before any call to the other public functions.
It only installs "BRTOS_TimerTask".
\param timertask_stacksize size of stack allocated to the task
\return nothing if sucess or never if any error
*/
void OSTimerInit(INT16U timertask_stacksize, INT8U prio){
BRTOS_TimerTaskInit();
#if (TASK_WITH_PARAMETERS == 1)
if (InstallTask(&BRTOS_TimerTask, "BRTOS Timers Task", timertask_stacksize, prio, NULL, NULL) != OK)
#else
if (InstallTask(&BRTOS_TimerTask, "BRTOS Timers Task", timertask_stacksize, prio, NULL) != OK)
#endif
{
while (1){};
}
}
INT8U BRTOSStart(void)
{
#if (TASK_WITH_PARAMETERS == 1)
if (InstallTask(&Idle, "Idle Task", IDLE_STACK_SIZE, 0, (void*)NULL, NULL) != OK)
#else
if (InstallTask(&Idle, "Idle Task", IDLE_STACK_SIZE, 0, NULL) != OK)
#endif
{
return NO_MEMORY;
};
currentTask = OSSchedule();
SPvalue = ContextTask[currentTask].StackPoint;
BTOSStartFirstTask();
return OK;
}
uint8_t BRTOSStart(void)
{
#if (TASK_WITH_PARAMETERS == 1)
if (InstallTask(&Idle, "Idle Task", IDLE_STACK_SIZE, 0, (void*)NULL, NULL) != OK)
#else
if (InstallTask(&Idle, "Idle Task", IDLE_STACK_SIZE, 0, NULL) != OK)
#endif
{
return NO_MEMORY;
};
#if (COMPUTES_TASK_LOAD == 1)
OSConfigureTimerForRuntimeStats();
#endif
currentTask = OSSchedule();
SPvalue = ContextTask[currentTask].StackPoint;
BTOSStartFirstTask();
return OK;
}
int main(void)
{
// Init your system clock here
// Initialize BRTOS
BRTOS_Init();
if(InstallTask(&exec,"Teste 1",384,3,&th1) != OK)
{
// Oh Oh
// Não deveria entrar aqui !!!
while(1){};
};
if(InstallTask(&exec2,"Teste 2",384,5,&th2) != OK)
{
// Oh Oh
// Não deveria entrar aqui !!!
while(1){};
};
if(InstallTask(&exec3,"Teste 3",384,10,&th3) != OK)
{
// Oh Oh
// Não deveria entrar aqui !!!
while(1){};
};
// Start Task Scheduler
if(BRTOSStart() != OK)
{
// Oh Oh
// Não deveria entrar aqui !!!
for(;;){};
};
return 0;
}
void main(void)
{
#if(BOOTLOADER_ENABLE == 1)
ISR_vtable_reallocation();
#endif
MCU_init(); /* MCU Initialization */
// Initialize BRTOS
BRTOS_Init();
/* Peripheral inicialization */
#if (DEBUG == 1)
/* flash clock for reprogramming */
Flash_Clock_Init();
/* Initialize A/D Converter and bandgap reference */
ADC_Setup(HighSpeed, ShortSampleTime, 12);
if(ADC_Bandgap_Set() != BANDGAP_OK){
while(1){}
}
#endif
#if(DEBUG == 1)
#if(NETWORK_ENABLE == 1)
GPSNET_Init();
if(InstallTask(&GPSNET_RxApp,"GPSNET RX task",320,APP3_Priority) != OK)
{
while(1){};
}
/*
if(InstallTask(&GPSNET_TxApp,"GPSNET TX task",1280,APP2_Priority) != OK)
{
while(1){};
}
*/
if(InstallTask(&GPSNET_SensorApp,"GPSNET Sensor task",1280,APP1_Priority) != OK)
{
while(1){};
}
#endif
#endif
if(InstallTask(&System_Time,"System Time",320,System_Time_Priority) != OK)
{
while(1){};
};
if(InstallTask(&Comm2PC_Task,"Comm2PC task",448,Comm2PC_Task_Priority) != OK)
{
while(1){};
};
if(InstallTask(&HeartBeat_LED_Task,"HeartBeat LED task",320,HeartBeat_LED_Priority) != OK)
{
while(1){};
};
// Start Task Scheduler
if(BRTOSStart() != OK)
{
while(1){};
};
for(;;) {
/* __RESET_WATCHDOG(); by default, COP is disabled with device init. When enabling, also reset the watchdog. */
} /* loop forever */
/* please make sure that you never leave main */
}
/*
* Starts a new thread with priority "prio" that will begin its execution in the
* function "thread()". The "arg" argument will be passed as an argument to the
* thread() function. The argument "ssize" is the requested stack size for the
* new thread. The id of the new thread is returned. Both the id and the
* priority are system dependent.
*/
sys_thread_t
sys_thread_new(char *name, void ( *thread ) ( void *arg ), void *arg, int stacksize, int prio )
{
sys_thread_t thread_hdl = SYS_THREAD_NULL;
int i,j;
sys_tcb_t *p;
/* We disable the FreeRTOS scheduler because it might be the case that the new
* tasks gets scheduled inside the xTaskCreate function. To prevent this we
* disable the scheduling. Note that this can happen although we have interrupts
* disabled because xTaskCreate contains a call to taskYIELD( ).
*/
UserEnterCritical( );
p = tasks;
i = 0;
/* We are called the first time. Initialize it. */
if( p == NULL )
{
p = (sys_tcb_t *)BRTOS_ALLOC( sizeof( sys_tcb_t ) );
if( p != NULL )
{
tasks = p;
}
}
else
{
/* First task already counter. */
i++;
/* Cycle to the end of the list. */
while( p->next != NULL )
{
i++;
p = p->next;
}
p->next = (sys_tcb_t *)BRTOS_ALLOC( sizeof( sys_tcb_t ) );
p = p->next;
}
if( p != NULL )
{
/* Memory allocated. Initialize the data structure. */
THREAD_INIT( p );
/* Now q points to a free element in the list. */
//if( xTaskCreate( thread, (const signed char *)name, stacksize, arg, prio, &p->pid ) == pdPASS )
if (InstallTask(thread, name, stacksize, prio, arg) == OK)
{
for(j = 1;j<NUMBER_OF_TASKS;j++)
{
if (ContextTask[j].Priority == prio)
{
p->pid = &ContextTask[j];
thread_hdl = p->pid;
}
}
}
else
{
BRTOS_DEALLOC( p );
}
}
UserExitCritical( );
return thread_hdl;
}
/* Function to start all GPSNET Tasks */
void GPSNET_Init(void)
{
////////////////////////////////////////////////////
// Initialize IEEE 802.15.4 radio mutex ////
////////////////////////////////////////////////////
init_radio_resource(GPSNET_Mutex_Priority);
////////////////////////////////////////////////
// Initialize OS Network Services //////
////////////////////////////////////////////////
if ((INT8U)OSQueueCreate(&RFBuffer,RFBufferSize,&RF) != ALLOC_EVENT_OK)
{
while(1){};
}
/* GPSNET signals */
if ((INT8U)OSSemCreate(0,&RF_RX_Event) != ALLOC_EVENT_OK)
{
while(1){};
}
if ((INT8U)OSSemCreate(0,&RF_TX_Event) != ALLOC_EVENT_OK)
{
while(1){};
}
if ((INT8U)OSSemCreate(0,&MAC_Event) != ALLOC_EVENT_OK)
{
while(1){};
}
#ifdef SIGNAL_APP1
if ((INT8U)OSSemCreate(0,&(SIGNAL_APP1)) != ALLOC_EVENT_OK)
{
while(1){};
}
#endif
#ifdef SIGNAL_APP2
if ((INT8U)OSSemCreate(0,&(SIGNAL_APP2)) != ALLOC_EVENT_OK)
{
while(1){};
}
#endif
#ifdef SIGNAL_APP3
if ((INT8U)OSSemCreate(0,&(SIGNAL_APP3)) != ALLOC_EVENT_OK)
{
while(1){};
}
#endif
#ifdef SIGNAL_APP4
if ((INT8U)OSSemCreate(0,&(SIGNAL_APP4)) != ALLOC_EVENT_OK)
{
while(1){};
}
#endif
#ifdef SIGNAL_APP255
if ((INT8U)OSSemCreate(0,&(SIGNAL_APP255)) != ALLOC_EVENT_OK)
{
while(1){};
}
#endif
////////////////////////////////////////////////
// Initialize Network Tasks //////
////////////////////////////////////////////////
if(InstallTask(&GPSNET_RF_Event,"RF Event Handler",GPSNET_RF_Event_StackSize,RF_EventHandlerPriority) != OK)
{
while(1){};
}
if(InstallTask(&GPSNET_MAC,"GPS MAC Handler",GPSNET_MAC_StackSize,MAC_HandlerPriority) != OK)
{
while(1){};
}
if(InstallTask(&GPSNET_NWK,"GPS NWK Handler",GPSNET_NWK_StackSize,NWK_HandlerPriority) != OK)
{
while(1){};
}
}
