//________________________________________________________________________________
int main(void)
{
char i;
ConfigDevice();
#ifndef SIMULATION
ConfigDac();
#endif
FillTableT();
FillTableInvDV();
OS_Init();
OS_Task_Create(ProcessUartMsg, &task0);
OS_Task_Create(Pid, &task1);
OS_Sem_Create(&UartRcMsgSem,0);
PR2 = OS_TMR_TICK; // timer tick = 1000 instruction cycles=0.1 ms
T2CON = 0x05;
ReportStartUp();
while (1)
{
if(TMR1IF)
{
TMR1IF=0;
OS_Task_Resume(&task1);
}
asm("CLRWDT");
OS_Scheduler();
}
}
unsigned char Usart3_Getc(void)
{
while (!(UCSR3A & (1<<RXC3))){
OS_Scheduler();
task_delay_dec(1);
}
return UDR3;
}
unsigned char Usart2_Getc(void)
{
while (!(UCSR2A & (1<<RXC2))){
OS_Scheduler();
task_delay_dec(1);
}
return UDR2;
}
void Usart3_Putc(unsigned char ch)
{
while(!(UCSR3A & (1 << UDRE3))){ //等待发送缓冲区空
OS_Scheduler();
task_delay_dec(1);
}
UDR3 = ch; //发送数据
}
unsigned char Usart1_Getc(void)
{
while (!(UCSR1A & (1<<RXC1))){
OS_Scheduler();
task_delay_dec(1);
}
return UDR1;
}
unsigned char Usart0_Getc(void)
{
while (!(UCSR0A & (1<<RXC0))){
OS_Scheduler();
task_delay_dec(1);
}
return UDR0;
}
//等待消息
unsigned char task_wait_message(void)
{
IntEnter();
cur_tcb -> tstatus |= TS_MESSAGE;
IntLeave();
OS_Scheduler();
return cur_tcb -> tmessage;
}
//解除锁定
void task_unlock(void)
{
IntEnter();
cur_tcb->tstatus &= ~TS_LOCK;
IntLeave();
OS_Scheduler();
}
//给当前进程分配延时时间片
unsigned char task_delay(unsigned char time)
{
if(time > 0)
{
IntEnter();
cur_tcb->ttime_delay = time;
cur_tcb->tstatus = TS_DELAY;
IntLeave();
OS_Scheduler();
return 1;
}
return 0;
}
//发送消息
unsigned char task_send_message(unsigned char priority,unsigned char message)
{
if(priority < Tasknum){
os_tcb *tmp_tcb;
tmp_tcb = &tcb[priority];
IntEnter();
tmp_tcb -> tmessage = message;
tmp_tcb -> tstatus &= ~TS_MESSAGE;
IntLeave();
OS_Scheduler();
return 1;
}
return 0;
}
//唤醒进程
unsigned char task_awake(unsigned char priority)
{
if(priority < Tasknum){
os_tcb *tmp_tcb;
tmp_tcb = &tcb[priority];
IntEnter();
tmp_tcb->tstatus &= ~TS_SUSPEND;
IntLeave();
OS_Scheduler();
return 1;
}
return 0;
}
//进程挂起
unsigned char task_suspend(unsigned char priority)
{
if(priority < Tasknum)
{
os_tcb *tmp_tcb;
tmp_tcb = &tcb[priority];
IntEnter();
tmp_tcb->tstatus |= TS_SUSPEND;
IntLeave();
if(cur_tcb == tmp_tcb)
{
OS_Scheduler();
}
return 1;
}
return 0;
}
//切换当前进程
unsigned char current_task_switch()
{
if((cur_tcb->tstatus & TS_LOCK) == 0)
{
unsigned char i;
os_tcb *tmp_tcb;
tmp_tcb = tcb;
for(i = 0;i < Tasknum;i++,tmp_tcb++)
{
if(tmp_tcb->tstatus == 0)
{
cur_tcb = tmp_tcb;
OS_Scheduler();
return 1;
}
}
}
return 0;
}