/**
* -----------------------------------------------------------------------------
* @brief mutex1_execute
* @param[in] None
* @param[out] None
* @retval None
* @par Description
* @details The code of mutex test example 1.
* -----------------------------------------------------------------------------
*/
static void mutex1_execute (void)
{
unsigned char i;
Cnt = 0;
Del_Flag = 0;
Exit_Flag = 0;
CoTickDelay (1);
for (i=0; i<MUTEX_NUM; i++) {
Mutex_Id[i] = CoCreateMutex ();
if (Mutex_Id[i] == E_CREATE_FAIL) {
printf ("\r Create the %d mutex fail. \n",i+1);
}
}
for (i=0; i< MAX_SLAVE_TEST_TASKS; i++) {
Task_Id [i] = CoCreateTask (mutexTask01,(void*)i,MAINTEST_PRIMARY_PRIORITY-(i+1),&Task_Stack[i][SLAVE_TASK_STK_SIZE-1],SLAVE_TASK_STK_SIZE);
testAssert((Task_Id[i] != E_CREATE_FAIL)," Create task fail #3 ");
}
while (Exit_Flag == 0) ;
Del_Flag = 0;
Exit_Flag = 0;
for (i=0; i<MAX_SLAVE_TEST_TASKS; i++) {
testAssert((Flag[i] == Sequence[i])," Mutex #1 ");
}
}
int main(void)
{
cpuInit();
uartInit(BAUDRATE);
i2cInit();
TASKHANDLES System;
System.flight_control.armed=0;
System.flight_control.error=0;
System.lock.i2c = CoCreateMutex ( );
CoInitOS();
CoCreateTask( ledTask,
&System,
PRIORITY_LED_TASK,
&stkLED[SIZE_LED_TASK-1],
SIZE_LED_TASK );
CoCreateTask( radioTask,
&System,
PRIORITY_RADIO_TASK,
&stkRADIO[SIZE_RADIO_TASK-1],
SIZE_RADIO_TASK );
CoCreateTask( flightTask,
&System,
PRIORITY_FLIGHT_TASK,
&stkFLIGHT[SIZE_FLIGHT_TASK-1],
SIZE_FLIGHT_TASK );
printf("Starting OS!!\n");
CoStartOS();
printf("ERROR");
while(1);
}
void menusTask(void * pdata)
{
opentxInit();
#if defined(PCBTARANIS) && defined(REV9E)
while (1) {
uint32_t pwr_check = pwrCheck();
if (pwr_check == e_power_off) {
break;
}
else if (pwr_check == e_power_press) {
continue;
}
#else
while (pwrCheck() != e_power_off) {
#endif
U64 start = CoGetOSTime();
perMain();
// TODO remove completely massstorage from sky9x firmware
U32 runtime = (U32)(CoGetOSTime() - start);
// deduct the thread run-time from the wait, if run-time was more than
// desired period, then skip the wait all together
if (runtime < MENU_TASK_PERIOD_TICKS) {
CoTickDelay(MENU_TASK_PERIOD_TICKS - runtime);
}
}
#if defined(REV9E)
topLcdOff();
#endif
BACKLIGHT_OFF();
#if defined(PCBTARANIS)
displaySleepBitmap();
#else
lcd_clear();
displayPopup(STR_SHUTDOWN);
#endif
opentxClose();
boardOff(); // Only turn power off if necessary
}
extern void audioTask(void* pdata);
void tasksStart()
{
CoInitOS();
#if defined(CLI)
cliStart();
#endif
#if defined(BLUETOOTH)
btTaskId = CoCreateTask(btTask, NULL, 15, &btStack[BT_STACK_SIZE-1], BT_STACK_SIZE);
#endif
mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
#if !defined(SIMU)
audioMutex = CoCreateMutex();
mixerMutex = CoCreateMutex();
#endif
CoStartOS();
}
/**
*******************************************************************************
* @brief Initialization task
* @param[in] pdata A pointer to parameter passed to task.
* @param[out] None
* @retval None
*
* @details This task is called to initial hardware and created tasks.
*******************************************************************************
*/
void task_init(void *pdata)
{
uart_printf (" [OK]. \n\r\n\r");
uart_printf ("\r \"task_init\" task enter. \n\r\n\r ");
pdata = pdata;
/* Initiate Time buffer for LCD display */
chart[0] = time[2]/10 + '0';
chart[1] = time[2]%10 + '0';
chart[3] = time[1]/10 + '0';
chart[4] = time[1]%10 + '0';
chart[6] = time[0]/10 + '0';
chart[7] = time[0]%10 + '0';
uart_printf ("\r Create the \"mut_uart\" mutex... ");
mut_uart = CoCreateMutex();
if(mut_uart != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
uart_printf ("\r Create the \"mut_lcd\" mutex... ");
mut_lcd = CoCreateMutex();
if(mut_lcd != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
uart_printf ("\r Create the \"button_sel_flg\" flag... ");
/*!< Manual reset flag,initial state:0 */
button_sel_flg = CoCreateFlag(Co_FALSE,0);
if(button_sel_flg != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
uart_printf ("\r Create the \"button_add_flag\" flag...");
/*!< Manual reset flag,initial state:0 */
button_add_flg = CoCreateFlag(Co_FALSE,0);
if(button_add_flg != E_CREATE_FAIL)
uart_printf (" [OK]. \n\n");
else
uart_printf (" [Fail]. \n\n");
uart_printf ("\r Create the \"lcd_blink_flg\" flag... ");
lcd_blink_flg = CoCreateFlag(Co_FALSE,0); /*!< Manual reset flag,initial state:0 */
if(lcd_blink_flg != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
uart_printf ("\r Create the \"time_display_flg\" flag...");
/*!< Manual reset flag,initial state:0 */
time_display_flg = CoCreateFlag(Co_FALSE,0);
if(time_display_flg != E_CREATE_FAIL)
uart_printf (" [OK]. \n");
else
uart_printf (" [Fail]. \n");
/*!< Set flag to allow "time_display_flg" task run. */
CoSetFlag(time_display_flg);
uart_printf ("\r Create the first mailbox... ");
mbox0 = CoCreateMbox(EVENT_SORT_TYPE_FIFO);
if(mbox0 == E_CREATE_FAIL)
uart_printf (" [Fail]. \n\n");
else
uart_printf (" [OK]. \n\n");
/* Configure Peripheral */
uart_printf ("\r Initial hardware in Board : \n\r");
uart_printf ("\r ADC initial... ");
ADC_Configuration ();
uart_printf (" [OK]. \n");
uart_printf ("\r RTC initial... ");
RTC_Configuration ();
uart_printf (" [OK]. \n");
uart_printf ("\r GPIO initial... ");
GPIO_Configuration ();
uart_printf (" [OK]. \n");
uart_printf ("\r External interrupt initial... ");
EXIT_Configuration ();
uart_printf (" [OK]. \n");
uart_printf ("\r LCD initial... ");
LCD_Configuration ();
uart_printf (" [OK]. \n\n");
/* Create Tasks */
CoCreateTask( lcd_display_adc,
(void *)0 ,
LCD_DISPLAY_PRI ,
&lcd_display_adc_Stk[TASK_STK_SIZE-1] ,
TASK_STK_SIZE
);
CoCreateTask( uart_print ,
(void *)0 ,
UART_PRINT_PRI ,
&uart_print_Stk[TASK_STK_SIZE-1],
TASK_STK_SIZE
);
CoCreateTask( led_blink ,
(void *)0 ,
LCD_BLINK_PRI ,
&led_display_Stk[TASK_STK_SIZE-1],
TASK_STK_SIZE
);
time_display_id = CoCreateTask( time_display,
(void *)0,
TIME_DISRPLAY_PRI,
&time_display_Stk[TASK_STK_SIZE - 1],
TASK_STK_SIZE
);
CoCreateTask( time_set ,
(void *)0 ,
TIME_SET_PRI ,
&time_set_Stk[TASK_STK_SIZE-1],
TASK_STK_SIZE
);
CoExitTask(); /*!< Delete 'task_init' task. */
}
