void MainTaskCreate(void) {
OSTaskCreate(main_task, (void *) 0, &main_stack[MAIN_TASK_STACK_SIZE - 1],
MAIN_TASK_PRIO);
return;
}
void state_test()
{
OSTaskCreate(state_task, (void *)0, &pTaskStkFirst[task_stk_size-1], task_pio_test_first);
}
void TaskStart ( void *data )
{
PWINDOWS ptr = GetActiveWindow();
UBYTE i;
char sCmd[MAX_X];
WORD key;
WORD index, pos = 0x00;
data = data; /* Prevent compiler warning */
OS_ENTER_CRITICAL();
PC_VectSet(0x08, OSTickISR); /* Install uC/OS-II's clock tick ISR */
PC_SetTickRate(OS_TICKS_PER_SEC); /* Reprogram tick rate */
OS_EXIT_CRITICAL();
PC_DispChar(0, 0, ' ', 0x00);
PC_DispStr (8, 16, "Determining CPU's capacity ...", DISP_FGND_WHITE);
CreateWindow (0, StartY, MAX_X, EndY, DISP_FGND_WHITE, DISP_BGND_BLUE, "[ Prompt Window ]");
CreateTaskWindows();
OSStatInit(); /* Initialize uC/OS-II's statistics */
for (i = 0; i < N_TASKS; i ++)
{ /* Create N_TASKS identical tasks */
TaskData[i] = '0' + i; /* Each task will display its own letter */
OSTaskCreate(Task, (void *)&TaskData[i], (void *)&TaskStk[i][TASK_STK_SIZE - 1], i + 1);
}
DisplayTitle();
ClearWindow();
memset(sCmd, 0x00, MAX_X);
DisplayPrompt();
for (;;)
{
DisplayStatus(); // display status of tasks
if (PC_GetKey(&key) == TRUE)
{ /* See if key has been pressed */
if (key == 0x1B)
{ /* Yes, see if it's the ESCAPE key */
PC_DOSReturn(); /* Return to DOS */
}
else if (key == 0x08) // backspace
{
pos --;
pos = pos <= 0x00 ? 0x00 : pos;
sCmd[pos] = '\0';
PC_DispChar(ptr->cx + pos + strlen(sCmdPrompt), ptr->cy, ' ', ptr->color);
DisplayCursor(ptr->cx + pos + strlen(sCmdPrompt), ptr->cy);
}
else if (key == 0x0d || key == 0x0a) // enter
{
if (pos)
{
index = ParseCommand(sCmd);
HandleCommand(index);
}
memset(sCmd, 0x00, MAX_X);
pos = 0x00;
ptr->cy ++;
if (ptr->cy == ptr->ey - 1)
ClearWindow();
DisplayPrompt();
}
else if ((key >= '0' && key <= '9') ||
(key >= 'a' && key <= 'z') || (key >= 'A' && key <= 'Z'))
{
if (pos < MAX_X)
{
sCmd[pos] = (char)key;
PC_DispChar(ptr->cx + pos + strlen(sCmdPrompt), ptr->cy, key, ptr->color);
DisplayCursor (ptr->cx + pos + strlen(sCmdPrompt) + 1, ptr->cy);
}
pos ++;
}
}
OSTimeDlyHMSM(0, 0, 0, 200); /* Wait 200 ms */
}
}
//开始任务函数
void start_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
p_arg = p_arg;
CPU_Init();
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); //统计任务
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN //如果使能了测量中断关闭时间
CPU_IntDisMeasMaxCurReset();
#endif
#if OS_CFG_SCHED_ROUND_ROBIN_EN //当使用时间片轮转的时候
//使能时间片轮转调度功能,时间片长度为1个系统时钟节拍，既1*5=5ms
OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
#endif
OS_CRITICAL_ENTER(); //进入临界区
OSFlagCreate((OS_FLAG_GRP *)&event_flag,
(CPU_CHAR *)"event flag",
(OS_FLAGS)0x00,
(OS_ERR *)&err
);
OSTaskCreate((OS_TCB * )&Led0TaskTCB,
(CPU_CHAR * )"led0 task",
(OS_TASK_PTR )led0_task,
(void * )0,
(OS_PRIO )LED0_TASK_PRIO,
(CPU_STK * )&LED0_TASK_STK[0],
(CPU_STK_SIZE)LED0_STK_SIZE/10,
(CPU_STK_SIZE)LED0_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//创建浮点测试任务
OSTaskCreate((OS_TCB * )&FloatTaskTCB,
(CPU_CHAR * )"float test task",
(OS_TASK_PTR )float_task,
(void * )0,
(OS_PRIO )FLOAT_TASK_PRIO,
(CPU_STK * )&FLOAT_TASK_STK[0],
(CPU_STK_SIZE)FLOAT_STK_SIZE/10,
(CPU_STK_SIZE)FLOAT_STK_SIZE,
(OS_MSG_QTY )5,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//创建协议处理任务
OSTaskCreate((OS_TCB * )&ProtocolTaskTCB,
(CPU_CHAR * )"protocol task",
(OS_TASK_PTR )protocol_task,
(void * )0,
(OS_PRIO )Protocol_TASK_PRIO,
(CPU_STK * )&Protocol_TASK_STK[0],
(CPU_STK_SIZE)Protocol_STK_SIZE/10,
(CPU_STK_SIZE)Protocol_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
OS_CRITICAL_EXIT(); //进入临界区
OSTaskDel(NULL,&err);
}
/*!
*
* @brief Alarm Task
*/
void alarm_task(void *arg)
{
wave_t const *waveform = (wave_t *)NULL;
uint8_t speaker_task_alive = 0;
uint8_t create_speaker_task;
OS_FLAGS flags;
OS_ERR err;
(void)arg;
speaker_config();
for (;;)
{
flags = OSFlagPend(&alarm_flags, 0xF, 0,
OS_OPT_PEND_FLAG_SET_ANY | OS_OPT_PEND_FLAG_CONSUME |
OS_OPT_PEND_BLOCKING, NULL, &err);
assert(OS_ERR_NONE == err);
create_speaker_task = 0;
if ((flags & ALARM_HIGH) && (waveform != &alarm_high))
{
kill_speaker_if_alive(&speaker_task_alive);
waveform = &alarm_high;
create_speaker_task = 1;
}
else if ((flags & ALARM_MEDIUM) && (waveform != &alarm_medium))
{
kill_speaker_if_alive(&speaker_task_alive);
waveform = &alarm_medium;
create_speaker_task = 1;
}
else if ((flags & ALARM_LOW) && (waveform != &alarm_low))
{
kill_speaker_if_alive(&speaker_task_alive);
waveform = &alarm_low;
create_speaker_task = 1;
}
else if (flags & ALARM_NONE)
{
kill_speaker_if_alive(&speaker_task_alive);
waveform = NULL;
create_speaker_task = 0;
}
if (create_speaker_task)
{
OSTaskCreate(&speaker_tcb, "Speaker Task", speaker_task,
(void *)waveform, SPEAKER_PRIO, &speaker_stack[0],
TASK_STACK_SIZE / 10u, TASK_STACK_SIZE, 0u, 0u, 0, 0, &err);
assert(OS_ERR_NONE == err);
speaker_task_alive = 1;
}
}
}
/*******************************************************************************
* Function Name :void TaskStart(void)
* Description :任务启动
* Input :
* Output :
* Other :
* Date :2012.04.18 11:48:23
*******************************************************************************/
static void TaskStart(void)
{
OS_ERR err;
led_init();
usart1_init(115200);
SPI_Config() ;
SysTickInit();
OSTaskCreate( (OS_TCB *)&task1TCB,
(CPU_CHAR *)"Task1",
(OS_TASK_PTR)Task1,
(void *)0,
(OS_PRIO )TASK1_PRIO,
(CPU_STK *)&task1_stk[0],
(CPU_STK_SIZE)TASK1_STK_SIZE / 10,
(CPU_STK_SIZE)TASK1_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&task2TCB,
(CPU_CHAR *)"Task2",
(OS_TASK_PTR)Task2,
(void *)0,
(OS_PRIO ) TASK2_PRIO,
(CPU_STK *)&task2_stk[0],
(CPU_STK_SIZE)TASK2_STK_SIZE / 10,
(CPU_STK_SIZE)TASK2_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&task3TCB,
(CPU_CHAR *)"Task3",
(OS_TASK_PTR)Task3,
(void *)0,
(OS_PRIO )TASK3_PRIO,
(CPU_STK *)&task3_stk[0],
(CPU_STK_SIZE)TASK3_STK_SIZE / 10,
(CPU_STK_SIZE)TASK3_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&dispTCB,
(CPU_CHAR *)"LCD display",
(OS_TASK_PTR)MainTask,
(void *)0,
(OS_PRIO )Disp_PRIO,
(CPU_STK *)&dispStk[0],
(CPU_STK_SIZE)TASK4_STK_SIZE / 10,
(CPU_STK_SIZE)TASK4_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&schedTaskEx1TCB,
(CPU_CHAR *)"Sched Task Example1",
(OS_TASK_PTR)SchedEx1Task,
(void *)0,
(OS_PRIO )Disp_PRIO,
(CPU_STK *)&dispStk[0],
(CPU_STK_SIZE)SCHED_TASK_STK_SIZE / 10,
(CPU_STK_SIZE)SCHED_TASK_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&schedTaskEx2TCB,
(CPU_CHAR *)"Sched Task Example1",
(OS_TASK_PTR)SchedEx2Task,
(void *)0,
(OS_PRIO )Disp_PRIO,
(CPU_STK *)&dispStk[0],
(CPU_STK_SIZE)SCHED_TASK_STK_SIZE / 10,
(CPU_STK_SIZE)SCHED_TASK_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSSemCreate( (OS_SEM *)&taskSem,
(CPU_CHAR *)"taskSem",
(OS_SEM_CTR )0,
(OS_ERR *)err);
OSTaskDel( (OS_TCB *)&taskStartTCB,
(OS_ERR *)&err);
}
//---------------------------------------------------------------------------------
//-----------------------------------------------------------------------------------------------------------------------
void Task_START(void *pdata)
{
INT8U err;
OpenTimer0(TIMER_INT_ON & T0_16BIT & T0_SOURCE_INT & T0_PS_1_1);
OpenUSART( USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
//USART_BRGH_LOW,
USART_BRGH_HIGH,
51 );//12 - 9600 LOW
//8 - 57.6k HIGH
OpenADC( ADC_FOSC_32 &
ADC_RIGHT_JUST &
ADC_12_TAD,
ADC_CH0 & ADC_VREFPLUS_VDD & ADC_VREFMINUS_VSS &
ADC_INT_OFF, 15 );
TRISA |= 0b01111111;
TRISD &= 0b01111111;
TRISE |= 0b00000111;
ADCON1 &= 0b00000000;
ADCON1 |= 0b00000000;
CVRCON &= 0b00111111;
/*
ANSEL = 0; //turn off all other analog inputs
ANSELH = 0;
ANSELbits.ANS0 = 1; // turn on RA0 analog
ADCON1 = 0;
ADCON2 = 0b00111000;
ADCON0 = 0b00000001;
*/
//STask1 = OSSemCreate(1);
STaskTxSerial = OSSemCreate(0);
STeclado = OSSemCreate(1);
dMemory = OSMemCreate((void *)dMemoryData,MEMORY_BLOCK_NUM,MEMORY_SIZE,&err);
QueueADC0 = OSQCreate((void *)QueueADC0Message,QSize);
OSTaskCreate(TaskSensores, (void *)0, &TaskSensoresStk[0], 1);
OSTaskCreate(TaskTxSerial, (void *)0, &TaskTxSerialStk[0], 5);
OSTaskCreate(TaskTeclado, (void *)0, &TaskTecladoStk[0], 10);
//i_data = *((int *)pdata);
// task loop
for(;;)
{
salidaLED_0 = !(salidaLED_0);
OSTimeDly(50);
salidaLED_0 = !(salidaLED_0);
OSTimeDly(50);
}
}
void OS_IntQTaskInit (OS_ERR *p_err)
{
OS_INT_Q *p_int_q;
OS_INT_Q *p_int_q_next;
OS_OBJ_QTY i;
OSIntQOvfCtr = (OS_QTY)0u; /* Clear the ISR queue overflow counter */
if (OSCfg_IntQBasePtr == (OS_INT_Q *)0) {
*p_err = OS_ERR_INT_Q;
return;
}
if (OSCfg_IntQSize < (OS_OBJ_QTY)2u) {
*p_err = OS_ERR_INT_Q_SIZE;
return;
}
OSIntQTaskTimeMax = (CPU_TS)0;
p_int_q = OSCfg_IntQBasePtr; /* Initialize the circular ISR queue */
p_int_q_next = p_int_q;
p_int_q_next++;
for (i = 0u; i < OSCfg_IntQSize; i++) {
p_int_q->Type = OS_OBJ_TYPE_NONE;
p_int_q->ObjPtr = (void *)0;
p_int_q->MsgPtr = (void *)0;
p_int_q->MsgSize = (OS_MSG_SIZE)0u;
p_int_q->Flags = (OS_FLAGS )0u;
p_int_q->Opt = (OS_OPT )0u;
p_int_q->NextPtr = p_int_q_next;
p_int_q++;
p_int_q_next++;
}
p_int_q--;
p_int_q_next = OSCfg_IntQBasePtr;
p_int_q->NextPtr = p_int_q_next;
OSIntQInPtr = p_int_q_next;
OSIntQOutPtr = p_int_q_next;
OSIntQNbrEntries = (OS_OBJ_QTY)0u;
OSIntQNbrEntriesMax = (OS_OBJ_QTY)0u;
/* -------------- CREATE THE ISR QUEUE TASK ------------- */
if (OSCfg_IntQTaskStkBasePtr == (CPU_STK *)0) {
*p_err = OS_ERR_INT_Q_STK_INVALID;
return;
}
if (OSCfg_IntQTaskStkSize < OSCfg_StkSizeMin) {
*p_err = OS_ERR_INT_Q_STK_SIZE_INVALID;
return;
}
OSTaskCreate((OS_TCB *)&OSIntQTaskTCB,
(CPU_CHAR *)((void *)"uC/OS-III ISR Queue Task"),
(OS_TASK_PTR )OS_IntQTask,
(void *)0,
(OS_PRIO )0u, /* This task is ALWAYS at priority '0' (i.e. highest) */
(CPU_STK *)OSCfg_IntQTaskStkBasePtr,
(CPU_STK_SIZE)OSCfg_IntQTaskStkLimit,
(CPU_STK_SIZE)OSCfg_IntQTaskStkSize,
(OS_MSG_QTY )0u,
(OS_TICK )0u,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)p_err);
}
//开始任务
///////////////////////////////////////////////////////////////////////////////////////////////////////////
void AppTaskStart (void *p_arg)
{
OS_ERR err;
(void)p_arg;
//信号量
OSSemCreate((OS_SEM* )&SYNC_SEM,
(CPU_CHAR* )"SYNC_SEM",
(OS_SEM_CTR )0,
(OS_ERR* )&err
);
//消息队列
OSQCreate((OS_Q *)&TIME_DELAY_DATA,
(CPU_CHAR *)"delay time",
(OS_MSG_QTY )5,
(OS_ERR *)&err
);
CPU_Init();//初始化cpu，禁用中断，开启时间戳等
BSP_Tick_Init();//设置滴答定时器
//OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
//创建任务
/*------------------------------*/
OSTaskCreate((OS_TCB *)&AppTaskTASK1TCB,
(CPU_CHAR *)"task1",
(OS_TASK_PTR )task1,
(void *)0,
(OS_PRIO )APP_CFG_TASK_TASK1_PRIO,
(CPU_STK *)&AppTaskTASK1Stk[0],
(CPU_STK_SIZE )APP_CFG_TASK_TASK1_STK_SIZE / 10,
(CPU_STK_SIZE )APP_CFG_TASK_TASK1_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
/*------------------------------*/
OSTaskCreate((OS_TCB *)&AppTaskTASK2TCB,
(CPU_CHAR *)"task2",
(OS_TASK_PTR )task2,
(void *)0,
(OS_PRIO )APP_CFG_TASK_TASK2_PRIO,
(CPU_STK *)&AppTaskTASK2Stk[0],
(CPU_STK_SIZE )APP_CFG_TASK_TASK2_STK_SIZE / 10,
(CPU_STK_SIZE )APP_CFG_TASK_TASK2_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
/*-------------------------------*/
OSTaskCreate((OS_TCB *)&AppTaskTASK3TCB,
(CPU_CHAR *)"task3",
(OS_TASK_PTR )task3,
(void *)0,
(OS_PRIO )APP_CFG_TASK_TASK3_PRIO,
(CPU_STK *)&AppTaskTASK3Stk[0],
(CPU_STK_SIZE )APP_CFG_TASK_TASK3_STK_SIZE / 10,
(CPU_STK_SIZE )APP_CFG_TASK_TASK3_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
//创建好其他任务后就删除自己
OSTaskDel((OS_TCB*)0,&err);
}