//led0任务函数
void led0_task(void *p_arg)
{
OS_ERR err;
u8 test[20];
u8 times = 0;
CPU_SR_ALLOC();
u8 temp;
p_arg = p_arg;
while(1)
{
OS_CRITICAL_ENTER();
temp = FloatTaskTCB.MsgQ.NbrEntriesSize - FloatTaskTCB.MsgQ.NbrEntries;
printf("que remain %d.\r\n",temp);
OS_CRITICAL_EXIT();
sprintf((char *)test,"led_send_que %d",times++);
printf("led0 task send que.\r\n");
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )test,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
}
}
//定时器1的回调函数
void tmr1_callback(void *p_tmr,void *p_arg)
{
u8 *pbuf;
static u8 msg_num;
OS_ERR err;
pbuf = mymalloc(SRAMIN,10); //申请10个字节
if(pbuf) //申请内存成功
{
msg_num++;
sprintf((char*)pbuf,"ALIENTEK %d",msg_num);
//发送消息
OSTaskQPost((OS_TCB* )&Msgdis_TaskTCB, //向任务Msgdis发送消息
(void* )pbuf,
(OS_MSG_SIZE)10,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
if(err != OS_ERR_NONE)
{
myfree(SRAMIN,pbuf); //释放内存
OSTmrStop(&tmr1,OS_OPT_TMR_NONE,0,&err); //停止定时器1
tmr1sta = !tmr1sta;
LCD_ShowString(40,150,100,16,16,"TMR1 STOP! ");
}
}
}
//led0任务函数
void led0_task(void *p_arg)
{
OS_ERR err;
u8 test[20];
u8 test1[20] = "abcde";
u8 test2[20] = "12345";
u8 test3[20] = "45678";
u8 times = 0;
CPU_SR_ALLOC();
u8 temp;
p_arg = p_arg;
while(1)
{
OS_CRITICAL_ENTER();
temp = FloatTaskTCB.MsgQ.NbrEntriesSize - FloatTaskTCB.MsgQ.NbrEntries;
printf("que remain %d.\r\n",temp);
OS_CRITICAL_EXIT();
sprintf((char *)test,"led_send_que %d",times++);
printf("led0 task send que.\r\n");
//消息队列传送的是地址 且不会进行数据拷贝
//同一地址传输速度比处理任务快 会导致数据被覆盖 造成数据丢失
//消息队列传送的是需要读取某个地址的次数
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )test,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )&test1,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )&test2,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )&test3,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
}
}
void TIM2_IRQHandler()
{
OS_ERR err;
if(TIM_GetITStatus(TIM2,TIM_IT_Update) == SET)
{
OSIntEnter();
OSTaskQPost(&TIM2Hisr_TCB,NULL,0,NULL,&err);
TIM_ClearITPendingBit(TIM2 , TIM_FLAG_Update);
OSIntExit();
}
}
void TERM_TASK_sensor(void *p_arg)
{
OS_ERR err;
while(DEF_ON)
{
TERM_get_sensor_value(&acc_sensor_x, &acc_sensor_y);
//acc_sensor_x=TERM_get_accsensor_x();
OSTaskQPost((OS_TCB *)&TERM_TCB_motor_x,
(void *)acc_sensor_x,
(OS_MSG_SIZE)sizeof(acc_sensor_x),
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR *)&err);
//acc_sensor_y=TERM_get_accsensor_y();
OSTaskQPost((OS_TCB *)&TERM_TCB_motor_y,
(void *)acc_sensor_y,
(OS_MSG_SIZE)sizeof(acc_sensor_y),
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR *)&err);
OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &err);
}
}
void tasklet_schedule(struct tasklet_struct *t)
{
OS_ERR err;
CPU_SR cpu_sr;
CPU_CRITICAL_ENTER();
if(t->state == TASKLET_STATE_SCHED)
{
CPU_CRITICAL_EXIT();
return;
}
t->state = TASKLET_STATE_SCHED;
CPU_CRITICAL_EXIT();
OSTaskQPost(&TaskletActionTCB ,t,sizeof(struct tasklet_struct), OS_OPT_POST_FIFO,&err);
if(err != OS_ERR_NONE)
USBH_DBG("tasklet_schedule OSTaskQPost Failed %d\r\n",err);
}
void ts_recv_isr(void *recv_buff_0, void *recv_nbr_0)
{
OS_ERR err;
uint32_t i;
uint32_t start_pos;
uint8_t *recv_buff = (uint8_t *)recv_buff_0;
uint32_t *recv_nbr = (uint32_t *)recv_nbr_0;
uint32_t len;
if (*recv_nbr >= TS_RECV_BUFF_LEN)
{
*recv_nbr = 0;
}
*recv_nbr += UART_Receive(LPC_UART0, recv_buff + *recv_nbr, \
TS_RECV_BUFF_LEN - *recv_nbr);
start_pos = *recv_nbr - 1;
if (*recv_nbr > MIN_RECV_LEN)
{
for (i = 0; i < *recv_nbr-1; i++)
{
//if (recv_buff[i] == 0xa5 && recv_buff[i+1] == 0x5a)
//if (recv_buff[i] == 0xa5 && recv_buff[i+1] == 0x5a)
if (recv_buff[i] == START_CHAR)
{
start_pos = i;
break;
}
}
}
else
return;
if (start_pos < *recv_nbr - 1 )
{
if (start_pos != 0)
{
for (i = 0; i < *recv_nbr - start_pos ; i++)
{
recv_buff[i] = recv_buff[i + start_pos];
}
*recv_nbr -= start_pos;
}
if (*recv_nbr > MIN_RECV_LEN)
{
//if (*recv_nbr == recv_buff[2] + 3)
if (recv_buff[*recv_nbr - 2] == END_CHAR_1 && recv_buff[*recv_nbr - 1] == END_CHAR_2)
{
len = *recv_nbr;
recv_buff[len] = recv_buff[4];
recv_buff[len + 1] = recv_buff[5];
recv_buff[len + 2] = recv_buff[6];
Mem_Copy(recv_buff_copy, recv_buff, len + 3);
*recv_nbr = 0;
OSTaskQPost(&ts_serv_task_tcb,
(uint8_t *)recv_buff_copy,
len + 3,
OS_OPT_POST_FIFO,
&err);
}
}
else
return;
}
else
{
*recv_nbr = 1;
recv_buff[0] = recv_buff[start_pos];
}
}
/**
* @brief This function handles PPP interrupt request.
* @param None
* @retval None
*/
void USART1_IRQHandler(void)
{
OS_ERR err;
u8 *memblk;
u8 getChar;
u32 i,index;
if(USART_GetITStatus(USART1,USART_IT_RXNE) == SET)
{
USART_ClearITPendingBit(USART1,USART_IT_RXNE);
getChar = (u8)USART_ReceiveData(USART1);
switch(gUsart1RxState)
{
case USART1_RX_IDLE:
switch(gUsart1RxStep)
{
case 0:
if(getChar == 0x5F)
gUsart1RxStep++;
else
gUsart1RxStep = 0;
break;
case 1:
if(getChar == 0x5F)
gUsart1RxStep++;
else
gUsart1RxStep = 0;
break;
case 2:
gUsart1RxStep++;
gUsart1RxLength = getChar;
break;
case 3:
gUsart1RxStep++;
gUsart1RxState = USART1_RX_BUSY;
gUsart1RxPoint = gUsart1RxBuff;
gUsart1RxLength = (u16)(getChar << 8)|(gUsart1RxLength);
break;
default:
gUsartRxOver = 0;
gUsart1RxStep = 0;
gUsart1RxPoint = NULL;
gUsart1RxState = USART1_RX_IDLE;
break;
}
break;
case USART1_RX_BUSY:
index = gUsart1RxStep - 4;
if((getChar == 0xAA)&&(gUsart1RxStep-4 == gUsart1RxLength))
{
gUsartRxOver = 1;
}
else if((getChar == 0x55)&&(gUsartRxOver == 1))
{
memblk = (u8*)AllocMem(gUsart1RxLength);
if(memblk != NULL)
{
memset(memblk,0,gUsart1RxLength);
for(i=0;i<gUsart1RxLength;i++)
{
memblk[i] = gUsart1RxBuff[i];
}
gUsartRxOver = 0;
gUsart1RxStep = 0;
gUsart1RxPoint = NULL;
gUsart1RxState = USART1_RX_IDLE;
OSTaskQPost(&MsgHandler_TCB,NULL,0,OS_OPT_POST_FIFO,&err);
}
}
else
{
if((gUsart1RxStep-4) > gUsart1RxLength)
{
gUsartRxOver = 0;
gUsart1RxStep = 0;
gUsart1RxLength = 0;
gUsart1RxPoint = NULL;
gUsart1RxState = USART1_RX_IDLE;
}
gUsart1RxStep++;
gUsart1RxPoint[index] = getChar;
}
break;
default:
gUsartRxOver = 0;
gUsart1RxStep = 0;
gUsart1RxLength = 0;
gUsart1RxPoint = NULL;
gUsart1RxState = USART1_RX_IDLE;
break;
}
}
}
