/**
* @brief main routine for uC/OS-III blinky example
* @return Function should not exit.
*/
int main(void)
{
OS_ERR os_err;
prvSetupHardware();
CPU_Init();
OSInit(&os_err);
OSTaskCreate( (OS_TCB *) &vLEDTask1TCB,
(CPU_CHAR *) "vLEDTask1",
(OS_TASK_PTR) vLEDTask1,
(void *) 0,
(OS_PRIO) APP_CFG_TASK_START_PRIO,
(CPU_STK *) vLEDTask1Stk,
(CPU_STK_SIZE) APP_CFG_TASK_START_STK_SIZE_LIMIT,
(CPU_STK_SIZE) APP_CFG_TASK_START_STK_SIZE,
(OS_MSG_QTY) 0u,
(OS_TICK) 0u,
(void *) 0,
(OS_OPT) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *) &os_err);
OSStart(&os_err);
(void) &os_err;
return 0;
}
static void AppTaskStart (void *p_arg)
{
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
BSP_Tick_Init(); /* Start Tick Initialization */
Mem_Init(); /* Initialize memory managment module */
Math_Init(); /* Initialize mathematical module */
#if (OS_TASK_STAT_EN > 0)
OSStatInit(); /* Determine CPU capacity */
#endif
BSP_LED_Off(0);
#if (APP_CFG_SERIAL_EN == DEF_ENABLED)
App_SerialInit(); /* Initialize Serial communication for application ... */
#endif
APP_TRACE_INFO(("Creating Application Events...\n\r"));
AppEventCreate(); /* Create Application Events */
APP_TRACE_INFO(("Creating Application Tasks...\n\r"));
AppTaskCreate(); /* Create application tasks */
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
BSP_LED_Toggle(0);
OSTimeDlyHMSM(0, 0, 0, 100);
}
}
static void spc_emu_thread(void)
{
CPU_Init(&spc_emu);
while (1) {
/* get a buffer for output */
struct sample_queue_chunk *chunk = samples_get_wrbuf();
if (chunk->id != SPC_EMU_AUDIO) {
/* This chunk doesn't contain audio but a command */
if (!emu_thread_process_msg(chunk))
break;
/* Have to re-get this pointer to keep semaphore counts correct */
continue;
}
ENTER_TIMER(render);
/* fill samples buffer */
if ( SPC_play(&spc_emu, WAV_CHUNK_SIZE*2, chunk->audio) )
assert( false );
EXIT_TIMER(render);
/* done so release it to output */
samples_release_wrbuf();
ci->yield();
}
}
int main(void)
{
OS_ERR err;
BSP_IntDisAll(); /* Disable all interrupts. */
CPU_Init(); /* Initialize the uC/CPU Services */
Mem_Init(); /* Initialize Memory Management Module */
Math_Init(); /* Initialize Mathematical Module */
OSInit(&err); /* Init uC/OS-III. */
OSTaskCreate((OS_TCB *)&AppTaskStartTCB, /* Create the start task */
(CPU_CHAR *)"App Task Start",
(OS_TASK_PTR )AppTaskStart,
(void *)0u,
(OS_PRIO )APP_CFG_TASK_START_PRIO,
(CPU_STK *)&AppTaskStartStk[0u],
(CPU_STK_SIZE )AppTaskStartStk[APP_CFG_TASK_START_STK_SIZE / 10u],
(CPU_STK_SIZE )APP_CFG_TASK_START_STK_SIZE,
(OS_MSG_QTY )0u,
(OS_TICK )0u,
(void *)0u,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
OSStart(&err); /* Start multitasking (i.e. give control to uC/OS-III). */
(void)&err;
return (0u);
}
bool PSP_InitStart(const CoreParameter &coreParam, std::string *error_string) {
if (pspIsIniting) {
return false;
}
#if defined(_WIN32) && defined(_M_X64)
INFO_LOG(BOOT, "PPSSPP %s Windows 64 bit", PPSSPP_GIT_VERSION);
#elif defined(_WIN32) && !defined(_M_X64)
INFO_LOG(BOOT, "PPSSPP %s Windows 32 bit", PPSSPP_GIT_VERSION);
#else
INFO_LOG(BOOT, "PPSSPP %s", PPSSPP_GIT_VERSION);
#endif
coreParameter = coreParam;
coreParameter.errorString = "";
pspIsIniting = true;
if (g_Config.bSeparateCPUThread) {
Core_ListenShutdown(System_Wake);
CPU_SetState(CPU_THREAD_PENDING);
cpuThread = new std::thread(&CPU_RunLoop);
cpuThread->detach();
} else {
CPU_Init();
}
*error_string = coreParameter.errorString;
return coreParameter.fileToStart != "";
}
void KernelMain(void)
{
OS_ERR err;
//CPU Init :
CPU_Init();
//OS Init :
// 1.Idle
// 2.Tick
// 3.Statistic
// 4.Timer Manager
// 5.debug
//
// 6.parameter init
OSInit( (OS_ERR *)&err);
OSTaskCreate( (OS_TCB *)&taskStartTCB,
(CPU_CHAR *)"Task Start",
(OS_TASK_PTR)TaskStart,
(void *)0,
(OS_PRIO ) STARTUP_TASK_PRIO,
(CPU_STK *)&taskStartStk[0],
(CPU_STK_SIZE)STARTUP_TASK_STK_SIZE / 10,
(CPU_STK_SIZE)STARTUP_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);
OSStart( (OS_ERR *)&err);
}
bool PSP_Init(const CoreParameter &coreParam, std::string *error_string) {
INFO_LOG(BOOT, "PPSSPP %s", PPSSPP_GIT_VERSION);
coreParameter = coreParam;
coreParameter.errorString = "";
if (g_Config.bSeparateCPUThread) {
Core_ListenShutdown(System_Wake);
CPU_SetState(CPU_THREAD_PENDING);
cpuThread = new std::thread(&CPU_RunLoop);
cpuThread->detach();
CPU_WaitStatus(cpuThreadReplyCond, &CPU_IsReady);
} else {
CPU_Init();
}
bool success = coreParameter.fileToStart != "";
*error_string = coreParameter.errorString;
if (success) {
success = GPU_Init();
if (!success) {
PSP_Shutdown();
*error_string = "Unable to initialize rendering engine.";
}
}
return success;
}
static void AppTaskStart (void *p_arg)
{
OS_ERR err;
#if (APP_CFG_TCPIP_MODULE_EN > 0u)
NET_ERR net_err;
#endif
(void)&p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
OS_CPU_TickInit(); /* Init uC/OS periodic time src (SysTick). */
#if (OS_CFG_STAT_TASK_EN > 0u)
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
Mem_Init(); /* Initialize mem mgmt module, required for TCP-IP. */
#if (APP_CFG_PROBE_COM_MODULE_EN > 0u)
AppProbe_Init(); /* Initialize uC/Probe modules */
#endif
OSTaskCreate((OS_TCB *)&AppBlinkyTaskTCB, /* Create the start task */
(CPU_CHAR *)"Blinky Task",
(OS_TASK_PTR ) AppBlinkyTask,
(void *) 0,
(OS_PRIO ) BLINKY_TASK_PRIO,
(CPU_STK *)&AppBlinkyTaskStk[0],
(CPU_STK_SIZE) BLINKY_TASK_STK_SIZE / 10u,
(CPU_STK_SIZE) BLINKY_TASK_STK_SIZE,
(OS_MSG_QTY ) 0u,
(OS_TICK ) 0u,
(void *) 0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
BSP_GraphLCD_Init();
AppGraphLCD_Hdr();
#if (APP_CFG_TCPIP_MODULE_EN > 0u)
AppTCPIP_Init(&net_err); /* Initialize uC/TCP-IP & associated applications. */
AppCloud_Init(0);
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN
CPU_IntDisMeasMaxCurReset();
#endif
AppTCPIP_Cfg = DEF_TRUE;
OSTaskDel(&AppTaskStartTCB, /* Delete task because its work is complete */
&err);
while (DEF_ON) {
; /* Should not get here! */
}
}
int main(int argc,char *argv[])
{
CPU_Init();
TRCINIT();
SPI_init();
start(INITIALIZE);
return 0;
}
int main (void)
{
OS_ERR err;
#if (CPU_CFG_NAME_EN == DEF_ENABLED)
CPU_ERR cpu_err;
#endif
CPU_Init(); /* Initialize the CPU abstraction layer. */
Mem_Init(); /* Initialize the Memory Management Module. */
Math_Init(); /* Initialize the Mathematical Module. */
#if (CPU_CFG_NAME_EN == DEF_ENABLED)
CPU_NameSet((CPU_CHAR *)"MKL46Z256VLL4",
(CPU_ERR *)&cpu_err);
#endif
BSP_IntDisAll(); /* Disable all interrupts. */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_INIT(); /* Initialize the µC/Trace recorder. */
TRACE_START(); /* Start recording. */
#endif
OSInit(&err); /* Initialize "uC/OS-III, The Real-Time Kernel". */
OSMutexCreate((OS_MUTEX *)&AppMutex,
(CPU_CHAR *)"My App. Mutex",
(OS_ERR *)&err);
OSQCreate ((OS_Q *)&AppQ,
(CPU_CHAR *)"My App Queue",
(OS_MSG_QTY )10,
(OS_ERR *)&err);
OSTaskCreate((OS_TCB *)&App_TaskStartTCB, /* Create the startup task. */
(CPU_CHAR *)"Startup Task",
(OS_TASK_PTR ) App_TaskStart,
(void *) 0,
(OS_PRIO ) APP_CFG_TASK_START_PRIO,
(CPU_STK *)&App_TaskStartStk[0],
(CPU_STK )(APP_CFG_TASK_START_STK_SIZE / 10u),
(CPU_STK_SIZE) APP_CFG_TASK_START_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);
OSStart(&err); /* Start multitasking (i.e. give control to uC/OS-III). */
while(DEF_ON) { /* Should Never Get Here */
};
}
//---------------------------------------------------------------------------------------------------
// Main
//---------------------------------------------------------------------------------------------------
int main (void)
{
OS_ERR aErr;
SCB_SHPR2=(3<<30);
#if (CPU_CFG_NAME_EN == DEF_ENABLED)
CPU_ERR aCpuErr;
#endif
// Initialize the CPU abstraction layer
CPU_Init();
//Initialize the Memory Management Module
Mem_Init();
// Initialize the Mathematical Module
Math_Init();
#if (CPU_CFG_NAME_EN == DEF_ENABLED)
CPU_NameSet((CPU_CHAR *)"MKL46Z256VLL4",(CPU_ERR *)&aCpuErr);
#endif
// Disable all interrupts
BSP_IntDisAll();
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_INIT(); // Initialize the µC/Trace recorder
TRACE_START(); // Start recording
#endif
// Initialize "uC/OS-III, The Real-Time Kernel"
OSInit(&aErr);
// Création de la tâche de démarrage
OSTaskCreate((OS_TCB *)&sAppTaskStartTCB,
(CPU_CHAR *)"Startup Task",
(OS_TASK_PTR ) AppTaskStart,
(void *) 0,
(OS_PRIO ) kStartTaskPr,
(CPU_STK *)&sAppTaskStartStk[0],
(CPU_STK )(kStackSize / 10u),
(CPU_STK_SIZE) kStackSize,
(OS_MSG_QTY ) 0,
(OS_TICK ) 0,
(void *) 0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&aErr);
// Démarrage du multitâche
OSStart(&aErr);
// On ne doit jamais se trouver ici...
while(1);
}
int main(void)
{
#if (OS_TASK_NAME_EN > 0)
CPU_INT08U err;
#endif
SYS_UnlockReg();
BSP_Init(); /* Initialize BSP functions */
BSP_Set_PLL_Freq(CLK_XTL_12M, PLL_DEFAULT_HZ); /* Configure PLL */
BSP_Set_System_Clock(CLK_PLL, 0); /* Select HCLK source clock as PLL */
SYS_LockReg();
OSInit(); /* Initialize "uC/OS-II, The Real-Time Kernel" */
CPU_Init(); /* Initialize the uC/CPU services */
Mem_Init(); /* Initialize memory managment module */
Math_Init(); /* Initialize mathematical module */
#if (OS_TASK_STAT_EN > 0)
OSStatInit(); /* Determine CPU capacity */
#endif
OSTaskCreateExt((void (*)(void *)) AppTask_1, /* Create the test task */
(void *) 0,
(OS_STK *)&StackOfTask_1[TASK_STACK_SIZE - 1],
(INT8U ) TASK_1_PRIO,
(INT16U ) TASK_1_PRIO,
(OS_STK *)&StackOfTask_1[0],
(INT32U ) TASK_STACK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
OSTaskCreateExt((void (*)(void *)) AppTask_2, /* Create the start task */
(void *) 0,
(OS_STK *)&StackOfTask_2[TASK_STACK_SIZE - 1],
(INT8U ) TASK_2_PRIO,
(INT16U ) TASK_2_PRIO,
(OS_STK *)&StackOfTask_2[0],
(INT32U ) TASK_STACK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
OSTaskNameSet(TASK_1_PRIO, "Task 1", &err);
OSTaskNameSet(TASK_2_PRIO, "Task 2", &err);
#endif
OSStart(); /* Start multitasking (i.e. give control to uC/OS-II) */
return (1);
}
void CPU_RunLoop() {
setCurrentThreadName("CPU");
FPU_SetFastMode();
if (CPU_NextState(CPU_THREAD_PENDING, CPU_THREAD_STARTING)) {
CPU_Init();
CPU_NextState(CPU_THREAD_STARTING, CPU_THREAD_RUNNING);
} else if (!CPU_NextState(CPU_THREAD_RESUME, CPU_THREAD_RUNNING)) {
ERROR_LOG(CPU, "CPU thread in unexpected state: %d", cpuThreadState);
return;
}
while (cpuThreadState != CPU_THREAD_SHUTDOWN)
{
CPU_WaitStatus(cpuThreadCond, &CPU_HasPendingAction);
switch (cpuThreadState) {
case CPU_THREAD_EXECUTE:
mipsr4k.RunLoopUntil(cpuThreadUntil);
gpu->FinishEventLoop();
CPU_NextState(CPU_THREAD_EXECUTE, CPU_THREAD_RUNNING);
break;
// These are fine, just keep looping.
case CPU_THREAD_RUNNING:
case CPU_THREAD_SHUTDOWN:
break;
case CPU_THREAD_QUIT:
// Just leave the thread, CPU is switching off thread.
CPU_SetState(CPU_THREAD_NOT_RUNNING);
return;
default:
ERROR_LOG(CPU, "CPU thread in unexpected state: %d", cpuThreadState);
// Begin shutdown, otherwise we'd just spin on this bad state.
CPU_SetState(CPU_THREAD_SHUTDOWN);
break;
}
}
if (coreState != CORE_ERROR) {
coreState = CORE_POWERDOWN;
}
// Let's make sure the gpu has already cleaned up before we start freeing memory.
if (gpu) {
gpu->FinishEventLoop();
gpu->SyncThread(true);
}
CPU_Shutdown();
CPU_SetState(CPU_THREAD_NOT_RUNNING);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////
//开始任务
void AppTaskStart (void *p_arg)
{
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
/*------------------------------*/
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);
}
static void AppTaskStart (void *p_arg)
{
OS_ERR os_err;
(void)p_arg;
CPU_Init(); /* Initialize the uC/CPU Services. */
Mem_Init(); /* Initialize the Memory Management Module */
Math_Init(); /* Initialize the Mathematical Module */
BSP_Ser_Init(115200u);
OSTaskCreate(&TaskRedTCB, /* Create the red task */
"App Task Red",
AppTaskRed,
0u,
APP_CFG_TASK_START_PRIO,
&TaskRedStk[0u],
(APP_CFG_TASK_START_STK_SIZE / 10u),
APP_CFG_TASK_START_STK_SIZE,
0u,
0u,
0u,
(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR | OS_OPT_TASK_SAVE_FP),
&os_err);
OSTaskCreate(&TaskGreenTCB, /* Create the green task */
"App Task Green",
AppTaskGreen,
0u,
APP_CFG_TASK_START_PRIO,
&TaskGreenStk[0u],
(APP_CFG_TASK_START_STK_SIZE / 10u),
APP_CFG_TASK_START_STK_SIZE,
0u,
0u,
0u,
(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR | OS_OPT_TASK_SAVE_FP),
&os_err);
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
}
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U clk_freq;
CPU_INT32U ulPHYMR0;
CPU_INT32U cnts;
OS_ERR err;
(void)&p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
SysCtlPeripheralEnable(SYSCTL_PERIPH_ETH); /* Enable and Reset the Ethernet Controller. */
SysCtlPeripheralReset(SYSCTL_PERIPH_ETH);
ulPHYMR0 = EthernetPHYRead(ETH_BASE, PHY_MR0); /* Power Down PHY */
EthernetPHYWrite(ETH_BASE, PHY_MR0, ulPHYMR0 | PHY_MR0_PWRDN);
SysCtlPeripheralDeepSleepDisable(SYSCTL_PERIPH_ETH);
clk_freq = BSP_CPUClkFreq(); /* Determine SysTick reference freq. */
cnts = clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
CPU_TS_TmrFreqSet(clk_freq);
// #if(MICROSD_EN == 1)
/* Mount the file system, using logical disk 0 */
//f_mount(0, &g_sFatFs);
/* Create a new log.txt file */
//CmdLineProcess(g_cCmdBuf);
// #endif
/* Enable Wheel ISR Interrupt */
AppRobotMotorDriveSensorEnable();
/*
Call your API here
*/
OSTaskCreateNew((OS_TCB *)&AppTaskOneTCB, (CPU_CHAR *)"App Task One", (OS_TASK_PTR ) AppTaskOne, (void *) 0, (OS_PRIO ) APP_TASK_ONE_PRIO, (CPU_STK *)&AppTaskOneStk[0], (CPU_STK_SIZE) APP_TASK_ONE_STK_SIZE / 10u, (CPU_STK_SIZE) APP_TASK_ONE_STK_SIZE, (OS_MSG_QTY ) 0u, (OS_TICK ) 0u, (void *)(CPU_INT32U) 1, (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err, (OS_PERIOD) 5000);
OSTaskCreateNew((OS_TCB *)&AppTaskTwoTCB, (CPU_CHAR *)"App Task Two", (OS_TASK_PTR ) AppTaskTwo, (void *) 0, (OS_PRIO ) APP_TASK_TWO_PRIO, (CPU_STK *)&AppTaskTwoStk[0], (CPU_STK_SIZE) APP_TASK_TWO_STK_SIZE / 10u, (CPU_STK_SIZE) APP_TASK_TWO_STK_SIZE, (OS_MSG_QTY ) 0u, (OS_TICK ) 0u, (void *) (CPU_INT32U) 2, (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err,(OS_PERIOD) 7000);
OSTaskCreateNew((OS_TCB *)&AppTaskThreeTCB, (CPU_CHAR *)"App Task Three", (OS_TASK_PTR ) AppTaskThree, (void *) 0, (OS_PRIO ) APP_TASK_THREE_PRIO, (CPU_STK *)&AppTaskThreeStk[0], (CPU_STK_SIZE) APP_TASK_THREE_STK_SIZE / 10u, (CPU_STK_SIZE) APP_TASK_THREE_STK_SIZE, (OS_MSG_QTY ) 0u, (OS_TICK ) 0u, (void *)(CPU_INT32U) 3, (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err, (OS_PERIOD) 7000);
OSTaskCreateNew((OS_TCB *)&AppTaskFourTCB, (CPU_CHAR *)"App Task Four", (OS_TASK_PTR ) AppTaskFour, (void *) 0, (OS_PRIO ) APP_TASK_FOUR_PRIO, (CPU_STK *)&AppTaskFourStk[0], (CPU_STK_SIZE) APP_TASK_FOUR_STK_SIZE / 10u, (CPU_STK_SIZE) APP_TASK_FOUR_STK_SIZE, (OS_MSG_QTY ) 0u, (OS_TICK ) 0u, (void *) (CPU_INT32U) 4, (OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR), (OS_ERR *)&err,(OS_PERIOD) 10000);
OSTaskDel((OS_TCB *)0, &err);
}
static void startup_task(void *p_arg)
{
BSP_Init(); //包含了中断向量的初始化
CPU_Init(); //
//根据官方代码，时钟要在这里初始化
RCC_ClocksTypeDef rcc_clocks;
RCC_GetClocksFreq(&rcc_clocks);
SysTick_Config(rcc_clocks.HCLK_Frequency / OS_TICKS_PER_SEC);
Mem_Init();
#if(OS_TASK_STAT_EN > 0)
OSStatInit(); // Determine CPU capacity.
#endif
/*TODO:create application tasks here*/
OSTaskDel(OS_PRIO_SELF);
}
int main ()
{
OS_ERR os_err;
BSP_Init();
CPU_Init();
OSInit(&os_err);
if(os_err != OS_ERR_NONE) {
APP_TRACE_INFO(("Error initialising OS. OsInit() returned with error %u\r\n", os_err));
}
OSTaskCreate((OS_TCB *)&AppTaskStartTCB,
(CPU_CHAR *)"App Task Start",
(OS_TASK_PTR ) AppTaskStart,
(void *) 0,
(OS_PRIO ) 5,
(CPU_STK *)&AppTaskStartStk[0],
(CPU_STK )(4096u / 10u),
(CPU_STK_SIZE) 4096u,
(OS_MSG_QTY ) 0,
(OS_TICK ) 0,
(void *) 0,
(OS_OPT )(OS_OPT_TASK_STK_CLR),
(OS_ERR *)&os_err);
if(os_err != OS_ERR_NONE) {
APP_TRACE_INFO(("Error creating task. OSTaskCreate() returned with error %u\r\n", os_err));
}
OSStart(&os_err);
if(os_err != OS_ERR_NONE) {
APP_TRACE_INFO(("Error starting. OSStart() returned with error %u\r\n", os_err));
}
while (DEF_TRUE) {
;
}
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U clk_freq;
CPU_INT32U cnts;
OS_ERR err;
(void)&p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
clk_freq = BSP_CPU_ClkFreq(); /* Determine SysTick reference freq. */
cnts = clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
CPU_TS_TmrFreqSet(clk_freq);
#if (OS_CFG_STAT_TASK_EN > 0u)
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_IntDisMeasMaxCurReset();
App_ProbeInit();
BSP_LED_On(1);
BSP_LED_Off(2);
AppDisplayTaskCreate();
while (DEF_ON) { /* Task body, always written as an infinite loop. */
OSTimeDlyHMSM(0u, 0u, 1u, 0u,
OS_OPT_TIME_HMSM_STRICT,
&err);
BSP_LED_Toggle(0); /* Toggle both LEDs every second. */
bLED[0] ^= DEF_TRUE;
bLED[1] ^= DEF_TRUE;
}
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U cpu_clk_freq;
CPU_INT32U cnts;
OS_ERR err;
CPU_TS ts;
(void)p_arg;
OSSemCreate(&AppSem, "Test Sem", 0, &err);
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
cpu_clk_freq = BSP_CPU_ClkFreq(); /* Determine SysTick reference freq. */
cnts = cpu_clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_IntDisMeasMaxCurReset();
BSP_LED_Off(0);
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
BSP_LED_Toggle(0);
#if 0
OSTimeDlyHMSM(0, 0, 0, 100,
OS_OPT_TIME_HMSM_STRICT,
&err);
#endif
OSSemPend(&AppSem,
100,
OS_OPT_PEND_BLOCKING,
&ts,
&err);
}
}
bool PSP_Init(const CoreParameter &coreParam, std::string *error_string) {
INFO_LOG(HLE, "PPSSPP %s", PPSSPP_GIT_VERSION);
coreParameter = coreParam;
coreParameter.errorString = "";
if (g_Config.bSeparateCPUThread) {
CPU_SetState(CPU_THREAD_PENDING);
cpuThread = new std::thread(&CPU_RunLoop);
CPU_WaitStatus(&CPU_IsReady);
} else {
CPU_Init();
}
bool success = coreParameter.fileToStart != "";
*error_string = coreParameter.errorString;
if (success) {
GPU_Init();
}
return success;
}
static void AppTaskStart (void *p_arg)
{
OS_ERR err;
CPU_ERR cpu_err;
uint32_t value;
static uint32_t pulse_flag = 0;
CPU_TS64 before, after;
char tmp[80];
(void)p_arg;
CPU_Init();
Mem_Init();
Math_Init();
BSP_Ser_Init(115200u);
while (DEF_ON) {
GPIO_DRV_TogglePinOutput( outPTB23 );
value = GPIO_DRV_ReadPinInput( inPTB9 );
if( value ){
if(pulse_flag == 0)
before = CPU_TS_Get64(); // in cpu_cfg.h must set: #define CPU_CFG_TS_64_EN DEF_ENABLED
pulse_flag = 1;
GPIO_DRV_ClearPinOutput( BOARD_GPIO_LED_BLUE );
}
else{
GPIO_DRV_SetPinOutput( BOARD_GPIO_LED_BLUE );
if(pulse_flag == 1)
{
after = CPU_TS_Get64(); // see comment above
sprintf( tmp, "Elapsed time in Task R = %f s\n\r", (float)((1.0*(after-before))/CPU_TS_TmrFreqGet( &cpu_err )) );
APP_TRACE_DBG(( tmp ));
}
pulse_flag = 0;
}
OSTimeDlyHMSM(0u, 0u, 0u, 200u, OS_OPT_TIME_HMSM_STRICT, &err);
}
}
void CPU_RunLoop() {
Common::SetCurrentThreadName("CPUThread");
if (!CPU_NextState(CPU_THREAD_PENDING, CPU_THREAD_STARTING)) {
ERROR_LOG(CPU, "CPU thread in unexpected state: %d", cpuThreadState);
return;
}
CPU_Init();
CPU_NextState(CPU_THREAD_STARTING, CPU_THREAD_RUNNING);
while (cpuThreadState != CPU_THREAD_SHUTDOWN)
{
CPU_WaitStatus(&CPU_HasPendingAction);
switch (cpuThreadState) {
case CPU_THREAD_EXECUTE:
mipsr4k.RunLoopUntil(cpuThreadUntil);
gpu->FinishEventLoop();
CPU_NextState(CPU_THREAD_EXECUTE, CPU_THREAD_RUNNING);
break;
// These are fine, just keep looping.
case CPU_THREAD_RUNNING:
case CPU_THREAD_SHUTDOWN:
break;
default:
ERROR_LOG(CPU, "CPU thread in unexpected state: %d", cpuThreadState);
// Begin shutdown, otherwise we'd just spin on this bad state.
CPU_SetState(CPU_THREAD_SHUTDOWN);
break;
}
}
if (coreState != CORE_ERROR) {
coreState = CORE_POWERDOWN;
}
CPU_Shutdown();
CPU_SetState(CPU_THREAD_NOT_RUNNING);
}
int main (void)
{
OSInit(); /* Init uC/OS-II. */
CPU_Init();
OSTaskCreateExt(periodicTask,
(void *)limits[1],
stack1 + (APP_TASK_STK_SIZE - 1),
(INT8U)(1),
(INT16U)(1),
stack1,
(INT32U)APP_TASK_STK_SIZE,
(void *)limits[1],
(INT16U)(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
OSTaskCreateExt(periodicTask,
(void *)limits[2],
stack2 + (APP_TASK_STK_SIZE - 1),
(INT8U)(2),
(INT16U)(2),
stack2,
(INT32U)APP_TASK_STK_SIZE,
(void *)limits[2],
(INT16U)(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
OSTaskCreateExt(periodicTask,
(void *)limits[3],
stack3 + (APP_TASK_STK_SIZE - 1),
(INT8U)(3),
(INT16U)(3),
stack3,
(INT32U)APP_TASK_STK_SIZE,
(void *)limits[3],
(INT16U)(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
OSStart(); /* Start multitasking (i.e. give control to uC/OS-II). */
}
//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
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);
OS_TaskSuspend((OS_TCB*)&StartTaskTCB,&err); //挂起开始任务
OS_CRITICAL_EXIT(); //进入临界区
}
static void AppTaskStart (void *p_arg)
{
OS_ERR err;
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize uC/CPU services */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
APP_TRACE_DBG(("uCOS-II is Running...\n\r"));
while (DEF_ON) { /* Task body, always written as an infinite loop. */
OSTimeDlyHMSM(0, 0, 1, 0);
APP_TRACE_DBG(("Time: %d\n\r", OSTimeGet(&err)));
}
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U cpu_clk_freq;
CPU_INT32U cnts;
OS_ERR err;
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init();
cpu_clk_freq = BSP_CPU_ClkFreq();
cnts = cpu_clk_freq / (CPU_INT32U)OSCfg_TickRate_Hz;/* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_IntDisMeasMaxCurReset();
//init USART1
BSP_Ser_Init(9600);
BSP_Ser_WrStr("start");
//init ADC1, ACC sensor
TERM_init_adc();
//init PWM
TERM_init_pwm();
//AppTaskCreate(); /* Create application tasks */
TERM_createTask();
}
bool PSP_InitStart(const CoreParameter &coreParam, std::string *error_string) {
if (pspIsIniting) {
return false;
}
#if defined(_WIN32) && defined(_M_X64)
INFO_LOG(BOOT, "PPSSPP %s Windows 64 bit", PPSSPP_GIT_VERSION);
#elif defined(_WIN32) && !defined(_M_X64)
INFO_LOG(BOOT, "PPSSPP %s Windows 32 bit", PPSSPP_GIT_VERSION);
#else
INFO_LOG(BOOT, "PPSSPP %s", PPSSPP_GIT_VERSION);
#endif
coreParameter = coreParam;
coreParameter.errorString = "";
pspIsIniting = true;
if (g_Config.bSeparateCPUThread) {
Core_ListenShutdown(System_Wake);
CPU_SetState(CPU_THREAD_PENDING);
cpuThread = new std::thread(&CPU_RunLoop);
#ifdef _XBOX
SuspendThread(cpuThread->native_handle());
XSetThreadProcessor(cpuThread->native_handle(), 2);
ResumeThread(cpuThread->native_handle());
#endif
cpuThreadID = cpuThread->get_id();
cpuThread->detach();
} else {
CPU_Init();
}
*error_string = coreParameter.errorString;
bool success = coreParameter.fileToStart != "";
if (!success) {
pspIsIniting = false;
}
return success;
}
bool PSP_InitStart(const CoreParameter &coreParam, std::string *error_string) {
if (pspIsIniting || pspIsQuiting) {
return false;
}
#if defined(_WIN32) && defined(_M_X64)
INFO_LOG(BOOT, "PPSSPP %s Windows 64 bit", PPSSPP_GIT_VERSION);
#elif defined(_WIN32) && !defined(_M_X64)
INFO_LOG(BOOT, "PPSSPP %s Windows 32 bit", PPSSPP_GIT_VERSION);
#else
INFO_LOG(BOOT, "PPSSPP %s", PPSSPP_GIT_VERSION);
#endif
GraphicsContext *temp = coreParameter.graphicsContext;
coreParameter = coreParam;
if (coreParameter.graphicsContext == nullptr) {
coreParameter.graphicsContext = temp;
}
coreParameter.errorString = "";
pspIsIniting = true;
if (g_Config.bSeparateCPUThread) {
Core_ListenShutdown(System_Wake);
CPU_SetState(CPU_THREAD_PENDING);
cpuThread = new std::thread(&CPU_RunLoop);
cpuThreadID = cpuThread->get_id();
cpuThread->detach();
} else {
CPU_Init();
}
*error_string = coreParameter.errorString;
bool success = coreParameter.fileToStart != "";
if (!success) {
pspIsIniting = false;
}
return success;
}
static void AppTaskStart (void *p_arg)
{
CPU_INT32U freq;
CPU_INT32U cnts;
OS_ERR err;
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
CPU_Init(); /* Initialize the uC/CPU services */
freq = BSP_CPU_ClkFreq(); /* Determine SysTick reference freq. */
cnts = freq / (CPU_INT32U)OSCfg_TickRate_Hz; /* Determine nbr SysTick increments */
OS_CPU_SysTickInit(cnts); /* Init uC/OS periodic time src (SysTick). */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN
CPU_IntDisMeasMaxCurReset();
#endif
AppEventCreate(); /* Create Application Kernel objects */
AppTaskCreate(); /* Create application tasks */
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
OSTimeDlyHMSM(0, 0, 0, 200, /* Delay task for 200 ms */
OS_OPT_TIME_HMSM_STRICT,
&err);
}
}
