/*
*********************************************************************************************************
* 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);
}
INT8U suspend_network_tasks()
{
INT8U err = OS_NO_ERR;
err = ( OSTaskSuspend( SSS_NIOS_II_SIMPLE_SOCKET_SERVER_TASK_PRIORITY )|
OSTaskSuspend( TK_NETMAIN_TPRIO )|
OSTaskSuspend( TK_NETTICK_TPRIO) );
return( err );
}
void Startup_Task(void *parg)
{
Show_Main(0,0,0,0);
Led_Off(0);
Led_Off(1);
OSTaskSuspend(CURSOR_TASK_PRIO);
OSTaskSuspend(TIMER_TASK_PRIO);
OSTaskSuspend(ADC_TASK_PRIO);
OSTaskDel(STARTUP_TASK_PRIO);//刪除自己
}
static void WSCreateTasks()
{
INT8U error_code = OS_NO_ERR;
/* Start LED Task. */
error_code = OSTaskCreateExt(LED_task,
NULL,
(void *)&LEDTaskStk[TASK_STACKSIZE-1],
LED_PRIO,
LED_PRIO,
LEDTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/* Start SSD Task. */
#ifdef SEG7_NAME
error_code = OSTaskCreateExt(SSD_task,
NULL,
(void *)&SSDTaskStk[TASK_STACKSIZE-1],
SSD_PRIO,
SSD_PRIO,
SSDTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
#endif
/* Start Board Control Task. */
error_code = OSTaskCreateExt(board_control_task,
NULL,
(void *)&BCTaskStk[TASK_STACKSIZE-1],
BOARD_PRIO,
BOARD_PRIO,
BCTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/* Suspend both the LED and SSD tasks on start. */
OSTaskSuspend(LED_PRIO);
OSTaskSuspend(SSD_PRIO);
/* The web server task is started by the Interniche stack, as the "main" network servicing task. */
}
/* Handle the commands for each gesture */
static void handleGestureCommands(int gesture_code) {
INT8U err;
static int state = PAUSE;
static int volume = 70;
char *message = (char *) calloc(LARGE_BUF_SIZE, sizeof(char));
// Pause
if ((state == PLAY) && (gesture_code == GCODE_DOWN_LEFT)) {
OSTaskSuspend(AUDIO_TASK_PRIORITY);
state = PAUSE;
snprintf(message, LARGE_BUF_SIZE, "RECOGNIZED DOWN-LEFT: PAUSE");
// Play
} else if ((state == PAUSE) && (gesture_code == GCODE_UP_LEFT)) {
OSTaskResume(AUDIO_TASK_PRIORITY);
state = PLAY;
snprintf(message, LARGE_BUF_SIZE, "RECOGNIZED UP-LEFT: PLAY");
// Volume down
} else if ((state == PLAY) && (gesture_code == GCODE_DOWN_RIGHT)) {
volume = decreaseVolume(volume);
audio_set_headphone_volume(av_dev, volume);
snprintf(message, LARGE_BUF_SIZE, "RECOGNIZED DOWN-RIGHT: VOL-DOWN");
// Volume up
} else if ((state == PLAY) && (gesture_code == GCODE_UP_RIGHT)) {
volume = increaseVolume(volume);
audio_set_headphone_volume(av_dev, volume);
snprintf(message, LARGE_BUF_SIZE, "RECOGNIZED UP-RIGHT: VOL-UP");
}
printf("%s\n", message);
if ((err = OSQPost(lcd_queue, message)) != OS_NO_ERR) {
printf("Error %d: message not put on LCD queue.\n", err);
}
}
//浮点测试任务
void float_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
static float float_num = 0.01;
//uint32_t temp = &float_num;
while(1)
{
float_num+=0.01f;
OS_CRITICAL_ENTER(); //进入临界区
//printf("float_num的值为: %.4f\r\n",float_num);
OS_CRITICAL_EXIT(); //退出临界区
if(float_num > 0.901f && float_num < 0.919f)
{
OSTaskSuspend((OS_TCB*)&Led0TaskTCB,&err);
printf("挂起LED任务\n\r");
}
if(float_num > 1.991f && float_num < 2.001f)
{
OSTaskResume((OS_TCB*)&Led0TaskTCB,&err);
printf("恢复LED任务\n\r");
float_num = 0.0f;
}
OSTimeDlyHMSM(0,0,0,300,OS_OPT_TIME_HMSM_STRICT,&err); //延时300ms
}
}
/*
***************************************************************
* 名称: start_task
* 功能: 启动任务
* 输入: 1. *pdata：任务参数
* 输出: NULL
* 返回: NULL
* 描述: 无
***************************************************************
*/
void start_task(void *pdata)
{
OS_CPU_SR cpu_sr = 0;
pdata = pdata;
TaskInit();
OSStatInit(); // 初始化统计任务.这里会延时1秒钟左右
OS_ENTER_CRITICAL(); // 进入临界区(无法被中断打断)
OSTaskCreate(uart3_task,
(void *)0,
(OS_STK*)&UART3_TASK_STK[UART3_STK_SIZE-1],
UART3_TASK_PRIO);
OSTaskCreate(can1_task,
(void *)0,
(OS_STK*)&CAN1_TASK_STK[CAN1_STK_SIZE-1],
CAN1_TASK_PRIO);
OSTaskCreate(beep_task,
(void *)0,
(OS_STK*)&BEEP_TASK_STK[BEEP_STK_SIZE-1],
BEEP_TASK_PRIO);
OSTaskSuspend(START_TASK_PRIO); // 挂起起始任务.
OS_EXIT_CRITICAL(); // 退出临界区(可以被中断打断)
}
void start_task(void *pdata)
{
OS_CPU_SR cpu_sr=0;
pdata=pdata;
OSStatInit();//初始化统计任务
OS_ENTER_CRITICAL();//进入临界区，中断无法打断
/**********************bootloader************************************/
OSTaskCreate(led1_task,//指向任务代码的指针
(void *)0,//任务开始执行时，传递给任务参数的指针
(OS_STK *)&LED1_TASK_STK[LED1_STK_SIZE-1],//分配给任务堆栈的栈顶指针
LED1_TASK_PRIO);//分配给任务的优先级
OSTaskCreate(led2_task,//指向任务代码的指针
(void *)0,//任务开始执行时，传递给任务参数的指针
(OS_STK *)&LED2_TASK_STK[LED2_STK_SIZE-1],//分配给任务堆栈的栈顶指针
LED2_TASK_PRIO);//分配给任务的优先级
OSTaskCreate(key_task,//指向任务代码的指针
(void *)0,//任务开始执行时，传递给任务参数的指针
(OS_STK *)&KEY_TASK_STK[KEY_STK_SIZE-1],//分配给任务堆栈的栈顶指针
KEY_TASK_PRIO);//分配给任务的优先级
/********************************************************************/
OSTaskSuspend(START_TASK_PRIO);//挂起开始任务
OS_EXIT_CRITICAL()//退出临界区 可以被中断打断
}
/************************************************
函数名: TaskNetWork
函数描述: LwIP入口函数
入参: <pvArg>[in/out] 保留参数 入口函数也包括对硬件部分的初始化工作
返回值: 0,初始化完毕
修改历史:
2011-5-9 徐军 修改
************************************************/
void TaskNetWork(void * pvArg)
{
//extern void Handler_HTTP(ST_NETCONN *pstConn);
struct netconn *__pstConn, *__pstNewConn;
struct netbuf *__pstNetbuf;
BYTE *__pbData;
LONG __lLen;
BYTE i = 0, __bIsAdd = TRUE;
//* 初始化LwIP
__ilvInitLwIP();
//* 设置LwIP，包括添加配置网络接口、建立接收任务等工作
__ilvSetLwIP();
// __pstConn = netconn_new(NETCONN_TCP);
// netconn_bind(__pstConn, NULL, HTTP_PORT);
// netconn_listen(__pstConn);
while(TRUE)
{
Printf("This is the tcp/ip application \n");
OSTaskSuspend(OS_PRIO_SELF);
}
}
void start_task(void *pdata)
{
OS_CPU_SR cpu_sr = 0;
pdata = pdata;
delay_init(168);
OS_ENTER_CRITICLE(); //进入临界区 无法被中断打断
OSTaskCreate( led0Task,
(void *)0,
(OS_STK *)LED0_TASK_STK[LED0_STK_SIZE-1],
LED0_TASK_PRIO);//创建LED任务
// OSTaskCreate( beepTask, (void *)0,
// (OS_STK *)BEEP_TASK_STK[BEEP_STK_SIZE-1],
// BEEP_TASK_PRIO);//创建BEEP任务
//用OSTaskCreateExt改写
OSTaskCreateExt( beepTask, (void *)0,
(OS_STK *)BEEP_TASK_STK[BEEP_STK_SIZE-1],
BEEP_TASK_PRIO,
BEEP_TASK_PRIO,//ID设置为跟优先级一样
(OS_STK *)BEEP_TASK_STK[0],//栈底指针
BEEP_STK_SIZE,//堆栈大小
(void *) 0,//额外参数为空
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR//使用任务堆栈检查和清零功能
)
OSTaskSuspend(START_TASK_PRIO);//挂起起始任务
OS_EXIT_CRITICLE(); //退出临界区 可以被中断打断
}
void start_task(void *pdata)
{
INT8U err;//错误码
INT8U *pname;
INT8U len;//名字的长度
char buffer[16];
OS_CPU_SR cpu_sr = 0;
pdata = pdata;
delay_init(168);
OS_ENTER_CRITICLE(); //进入临界区 无法被中断打断
OSTaskCreate( led0Task,
(void *)0,
(OS_STK *)LED0_TASK_STK[LED0_STK_SIZE-1],
LED0_TASK_PRIO);//创建LED任务
OSTaskCreate( beepTask, (void *)0,
(OS_STK *)BEEP_TASK_STK[BEEP_STK_SIZE-1],
BEEP_TASK_PRIO);//创建BEEP任务
OSTaskCreate( keyTask, (void *)0,
(OS_STK *)KEY_TASK_STK[KEY_STK_SIZE-1],
KEY_TASK_PRIO);//创建keytask
OSTaskSuspend(START_TASK_PRIO);//挂起起始任务
OS_EXIT_CRITICLE(); //退出临界区 可以被中断打断
}
//开始任务
void AppStartTask(void *pdata)
{
OS_CPU_SR cpu_sr=0;
pdata = pdata;
msg_test=OSMboxCreate((void*)0); //创建消息邮箱
sem_test=OSSemCreate(0); //创建信号量
OSStatInit(); //初始化统计任务.这里会延时1秒钟左右
OS_ENTER_CRITICAL(); //进入临界区(无法被中断打断)
OSTaskCreate(AppLEDTask,(void *)0,
&APP_LED_STK[TASK_STK_SIZE-1],
APP_LED_TASK_PRIO); //建立LED1任务
OSTaskCreate(AppMBOXTask,(void *)0,
&APP_MBOX_STK[TASK_STK_SIZE-1],
APP_MBOX_TASK_PRIO); //建立邮箱接收显示任务
OSTaskCreate(AppSEMTask,(void *)0,
&APP_SEM_STK[TASK_STK_SIZE-1],
APP_SEM_TASK_PRIO); //建立信号量接收显示任务
OSTaskCreate(AppWDOGTask,(void *)0,
&APP_WDOG_STK[TASK_STK_SIZE-1],
APP_WDOG_TASK_PRIO); //建立看门狗任务
OSTaskCreate(AppPostTask,(void *)0,
&APP_POST_STK[TASK_STK_SIZE-1],
APP_POST_TASK_PRIO); //建立邮箱，信号量投递任务
UART_printf("uCOSII MBox&Sem DemoTest\r\n");
OSTaskSuspend(APP_START_TASK_PRIO); //挂起起始任务.
OS_EXIT_CRITICAL(); //退出临界区(可以被中断打断)
}
INT8U CTask::Create(bool bRunNow)
{
INT32U nStackSize = StackSize();
m_nId = s_nNextId ++;
OSSchedLock();
INT8U errno = OSTaskCreateExt(_callbackFunc, (void*)this,
&m_pTaskStack[nStackSize-1],
m_nPrio,
m_nId,
m_pTaskStack,
nStackSize,
(void*)NULL,
OS_TASK_OPT_STK_CHK|OS_TASK_OPT_STK_CLR);
if (!errno){
OSTaskNameSet(m_nPrio, (INT8U*)m_aTaskName, &errno);
}
if (!bRunNow){
OSTaskSuspend(m_nPrio);
}
OSSchedUnlock();
return errno;
}
void TaskStart(void *pdata){
rSUBSRCPND = rSUBSRCPND;
rSRCPND = rSRCPND;
rINTPND = rINTPND;
pdata = pdata;
S3C_StartTimer4();
SwiHandle(1);
SwiHandle(3); //Enable Interrupt
rGPBDAT = (15<<5);
OSStatInit();
OSTaskCreate(Task_UART0TX,(void *)0,&Stk_Task_UART0TX[99],11);
OSTaskCreate(Task_UART0Rx,(void *)0,&Stk_Task_UART0Rx[99],12);
OSTaskCreate(Task_LEDMAN,(void *)0,&Stk_Task_LEDMAN[99],13);
OSTaskCreate(Task_BEEPMAN,(void *)0,&Stk_Task_BEEPMAN[99],14);
OSTaskCreate(Task_LCDMAN,(void *)0,&Stk_Task_LCDMAN[99],15);
while(1){
OSTaskSuspend(OSPrioCur);
}
}
/*
* This function is called to suspend a task
*/
extern status_t taskSuspend
(
uint8_t tid /* task ID of task to suspend */
)
{
return OSTaskSuspend(tid);
}
static void LedFont_Stop(void) {
INT8U err;
if (LedFont_ScrollOnce) {
OSFlagPost(LedFont_Flags, LEDFONT_FLAG_FINISHED_SCROLLING, OS_FLAG_SET, &err); /* clear all button flags */
}
OSTaskSuspend(OS_PRIO_SELF); /* put task to sleep */
}
static void task1(void *pdata)
{
while(1)
{
dprintf("task1,%s\r\n",pdata);
OSTaskSuspend(OS_PRIO_SELF);
}
}
//显示地址等信息
void display_task(void *pdata)
{
while(1)
{
#if LWIP_DHCP //当开启DHCP的时候
if(lwipdev.dhcpstatus != 0) //开启DHCP
{
show_address(lwipdev.dhcpstatus ); //显示地址信息
OSTaskSuspend(OS_PRIO_SELF); //显示完地址信息后挂起自身任务
}
#else
show_address(0); //显示静态地址
OSTaskSuspend(OS_PRIO_SELF); //显示完地址信息后挂起自身任务
#endif //LWIP_DHCP
OSTimeDlyHMSM(0,0,0,100);
}
}
/******************************************************
Disable bar code reader
*******************************************************/
void BCR_Disable()
{
COM_BUFF_INFO RxBuff = GetTaskRxComBuff();
OSTaskSuspend(TASK_BCR_PRIO);
*(RxBuff.ptrCurrent) = *(RxBuff.ptrEnd);
GPS_Enable();
}
int
do_exit (cmd_tbl_t *cmdtp, int flag, int argc, char *argv[])
{
OS_ERR err;
OSTaskSuspend(&APPTaskCMDTCB, &err);
return 0;
}
/* The audio task is responsible for continuously playing music
* off the SD card.
*/
void audio_task(void *pdata) {
int err = 0;
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_ACTIVE_CTRL, 0x00);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_LEFT_LINE_IN, 0x97);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_RIGHT_LINE_IN, 0x97);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_LEFT_HEADPHONE_OUT, 0x79);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_RIGHT_HEADPHONE_OUT, 0x79);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_ANALOG_AUDIO_PATH_CTRL, 0x12);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_DIGITAL_AUDIO_PATH_CTRL, 0x05);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_POWER_DOWN_CTRL, 0x07);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_AUDIO_DIGITAL_INTERFACE, 0x42);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_SAMPLING_CTRL, 0x22);
err += alt_up_av_config_write_audio_cfg_register(av_dev, AUDIO_REG_ACTIVE_CTRL, 0x01);
err += audio_set_headphone_volume(av_dev, DEFAULT_VOLUME);
if(err < 0)
printf("Audio Configuration Failed\n");
alt_up_audio_reset_audio_core(audio_dev);
alt_up_audio_disable_read_interrupt(audio_dev);
alt_up_audio_disable_write_interrupt(audio_dev);
char fileName[10] = {"class.wav\0"};
if (file_fopen(&readFile, &efsl.myFs, fileName, 'r') != 0)
printf("Error:\tCould not open file\n");
int readSize = 0;
euint32 currentSize = 44;
euint8 buf[AUDIO_BUF_SIZE];
int i;
/* The task is suspended so that it can be played by another task. */
OSTaskSuspend(AUDIO_TASK_PRIORITY);
while(1) {
if (currentSize < readFile.FileSize) {
int fifospace = alt_up_audio_write_fifo_space(audio_dev, ALT_UP_AUDIO_LEFT);
if (fifospace > WORD_COUNT) {
readSize = file_fread(&readFile, currentSize, AUDIO_BUF_SIZE, buf);
currentSize += readSize;
i = 0;
while(i < AUDIO_BUF_SIZE) {
IOWR_ALT_UP_AUDIO_LEFTDATA(audio_dev->base, (buf[i+1]<<8)|buf[i]);
IOWR_ALT_UP_AUDIO_RIGHTDATA(audio_dev->base, (buf[i+3]<<8)|buf[i+2]);
i+=4;
}
}
} else {
currentSize = 44;
}
}
file_fclose(&readFile);
}
//开始任务
void start_task(void *pdata)
{
OS_CPU_SR cpu_sr=0;
pdata = pdata;
OS_ENTER_CRITICAL(); //进入临界区(无法被中断打断)
OSTaskCreate(led0_task,(void *)0,(OS_STK*)&LED0_TASK_STK[LED0_STK_SIZE-1],LED0_TASK_PRIO);
OSTaskCreate(led1_task,(void *)0,(OS_STK*)&LED1_TASK_STK[LED1_STK_SIZE-1],LED1_TASK_PRIO);
OSTaskSuspend(START_TASK_PRIO); //挂起起始任务.
OS_EXIT_CRITICAL(); //退出临界区(可以被中断打断)
}
void board_control_task(void *pdata)
{
INT8U error_code = OS_NO_ERR;
board_control_mbox = OSMboxCreate((void *)NULL);
struct http_form_data* board_control_mbox_contents;
while(1)
{
board_control_mbox_contents = (void*)OSMboxPend(board_control_mbox, 0, &error_code);
if (board_control_mbox_contents->LED_ON)
{
OSTaskResume(LED_PRIO);
}
else
{
/* Suspend the task and clear the LED. */
OSTaskSuspend(LED_PRIO);
IOWR_ALTERA_AVALON_PIO_DATA( LEDG_BASE, 0 );
}
if (board_control_mbox_contents->SSD_ON)
{
OSTaskResume(SSD_PRIO);
}
else
{
/* Suspend the task and set SSD to all zeros. */
OSTaskSuspend(SSD_PRIO);
#ifdef SEG7_NAME
//sevenseg_set_hex(0);
#endif
}
/* Always dump text to the LCD... */
#ifdef LCD_NAME
lcd_output_text( board_control_mbox_contents->LCD_TEXT );
usleep(500*1000);
#endif
}
}
//开始任务
void TaskStart(void * pdata)
{
pdata = pdata;
OS_ENTER_CRITICAL();
OSTaskCreate(TaskLed , (void * )0, (OS_STK *)&TASK_LED_STK[LED_STK_SIZE-1], LED_TASK_Prio);
OSTaskCreate(TaskLed1, (void * )0, (OS_STK *)&TASK_LED1_STK[LED1_STK_SIZE-1], LED1_TASK_Prio);
OSTaskCreate(TaskLed2, (void * )0, (OS_STK *)&TASK_LED2_STK[LED2_STK_SIZE-1], LED2_TASK_Prio);
OSTaskSuspend(START_TASK_Prio); //suspend but not delete
OS_EXIT_CRITICAL();
static void SweepRobot_RGBLEDTestSingleProc(int *ledState, GUI_COLOR color, char *strText, char *strMultiEdit1, char *strMultiEdit2)
{
Text_Set_Color(hWin_SWRB_RGB_LED, ID_MAIN_TEXT_RGB_LED, color);
Text_Set_Text(hWin_SWRB_RGB_LED, ID_MAIN_TEXT_RGB_LED, strText);
OSTaskSuspend(gSwrbTestRuningTaskPrio);
if(*ledState) {
MultiEdit_Add_Text(hWin_SWRB_MAIN, ID_MAIN_MULTIEDIT_MAIN, strMultiEdit1);
} else {
MultiEdit_Add_Text(hWin_SWRB_MAIN, ID_MAIN_MULTIEDIT_MAIN, strMultiEdit2);
}
}
void start_task(void *pdata)
{
OS_CPU_SR cpu_sr = 0;
// GUI_Delay(1000);
OS_ENTER_CRITICAL();
OSTaskCreate(emwin_demo_task,(void *)0,&EMWIN_TASK_STK[EMWIN_STK_SIZE-1],EMWIN_DEMO_TASK_PRIO);
OSTaskCreate(touch_task,(void *)0,&TOUCH_TASK_STK[TOUCH_STK_SIZE-1],TOUCH_TASK_PRIO);
OSTaskCreate(led_task,(void *)0,(OS_STK*)&LED_TASK_STK[LED_STK_SIZE-1],LED_TASK_PRIO);
OSTaskSuspend(START_TASK_PRIO); //挂起起始任务.
OS_EXIT_CRITICAL();
}
void StopAllTasks ( void )
{
int i;
for (i = 0x00; i < N_TASKS; i ++)
{
if (sRunning[i])
{
OSTaskSuspend(i + 1);
sRunning[i] = 0x00;
}
}
}
//任务3
//按键检测
void TaskKey(void *pdata)
{ u8 key=0;
while(1){
key=KEY_Scan();
if(key==1)
{
OSTaskSuspend(LED_TASK_Prio);
OSTaskSuspend(LCD_TASK_Prio);
}
else if(key==2)
{
OSTaskResume(LED_TASK_Prio);
OSTaskResume(LCD_TASK_Prio);
}
else if(key==3)
{
OSTaskDelReq(LED_TASK_Prio);
OSTaskDelReq(LCD_TASK_Prio);
}
OSTimeDlyHMSM(0,0,0,20);
}
}
//start任务
void start_task(void *pdata)
{
OS_CPU_SR cpu_sr;
pdata = pdata ;
OSStatInit(); //初始化统计任务
OS_ENTER_CRITICAL(); //关中断
OSTaskCreate(led_task,(void*)0,(OS_STK*)&LED_TASK_STK[LED_STK_SIZE-1],LED_TASK_PRIO); //创建LED任务
OSTaskCreate(key_task,(void*)0,(OS_STK*)&KEY_TASK_STK[KEY_STK_SIZE-1],KEY_TASK_PRIO); //创建KEY任务
OSTaskCreate(display_task,(void*)0,(OS_STK*)&DISPLAY_TASK_STK[DISPLAY_STK_SIZE-1],DISPLAY_TASK_PRIO); //显示任务
OSTaskSuspend(OS_PRIO_SELF); //挂起start_task任务
OS_EXIT_CRITICAL(); //开中断
}
//开始任务
void TaskStart(void * pdata)
{
pdata = pdata;
OS_ENTER_CRITICAL();
OSTaskCreate(TaskLed, (void * )0, (OS_STK *)&TASK_LED_STK[LED_STK_SIZE-1], LED_TASK_Prio);
OSTaskCreate(TaskLed1, (void * )0, (OS_STK *)&TASK_LED1_STK[LED1_STK_SIZE-1], LED1_TASK_Prio);
OSTaskCreate(TaskLed2, (void * )0, (OS_STK *)&TASK_LED2_STK[LED2_STK_SIZE-1], LED2_TASK_Prio);
// OSTaskCreate(TaskLed3, (void * )0, (OS_STK *)&TASK_LED3_STK[LED2_STK_SIZE-1], LED3_TASK_Prio);
// OSTaskCreate(TaskLCD, (void * )0, (OS_STK *)&TASK_LCD_STK[LCD_STK_SIZE-1], LCD_TASK_Prio);
// OSTaskCreate(TaskKey, (void * )0, (OS_STK *)&TASK_KEY_STK[KEY_STK_SIZE-1], KEY_TASK_Prio);
// OSTaskCreate(TaskTouch, (void * )0, (OS_STK *)&TASK_TOUCH_STK[TOUCH_STK_SIZE-1], TOUCH_TASK_Prio);
OSTaskSuspend(START_TASK_Prio); //suspend but not delete
OS_EXIT_CRITICAL();
}