www.pudn.com > ucosii_for_m128_template.rar > app._c, change:2004-12-06,size:9820b
/*
*************************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
* ATmega128 Sample code
*
* File : APP.C
* By : Jean J. Labrosse
*************************************************************************************************************
*/
#include "includes.h"
/*
**************************************************************************************************************
* CONSTANTS
*
* Note(s) : 1) See OS_CFG.H for the default stack size: 'OS_TASK_STK_SIZE'
**************************************************************************************************************
*/
#define CPU_CLK_FREQ 3684000L
#define OS_TASK_START_STK_SIZE OS_TASK_STK_SIZE
#define OS_TASK_START_HARD_STK_SIZE OS_TASK_HARD_STK_SIZE
#define OS_TASK_1_STK_SIZE OS_TASK_STK_SIZE
#define OS_TASK_1_HARD_STK_SIZE OS_TASK_HARD_STK_SIZE
#define OS_TASK_2_STK_SIZE OS_TASK_STK_SIZE
#define OS_TASK_2_HARD_STK_SIZE OS_TASK_HARD_STK_SIZE
/*
**************************************************************************************************************
* VARIABLES
**************************************************************************************************************
*/
OS_STK AppTaskStartStk[OS_TASK_START_STK_SIZE];
OS_STK AppTask1Stk[OS_TASK_1_STK_SIZE];
OS_STK AppTask2Stk[OS_TASK_2_STK_SIZE];
/*
**************************************************************************************************************
* FUNCTION PROTOTYPES
**************************************************************************************************************
*/
void main(void);
static void AppTaskStart(void *p_arg);
static void AppTaskCreate(void);
static void AppTask1(void *p_arg);
static void AppTask2(void *p_arg);
static void AppIOInit(void);
static void LED_Toggle(INT8U led);
/*
**************************************************************************************************************
* MAIN
*
* Note(s): 1) You SHOULD use OS_TASK_STK_SIZE (see OS_CFG.H) when setting OSTaskStkSize prior to calling
* OSInit() because OS_TASK_IDLE_STK_SIZE and OS_TASK_STAT_STK_SIZE are set to this value in
* OS_CFG.H.
**************************************************************************************************************
*/
void main (void)
{
/*---- Any initialization code prior to calling OSInit() goes HERE --------------------------------*/
/* IMPORTANT: MUST be setup before calling 'OSInit()' */
OSTaskStkSize = OS_TASK_STK_SIZE; /* Setup the default stack size */
OSTaskHardStkSize = OS_TASK_HARD_STK_SIZE; /* Setup the default hardware stack size */
OSInit(); /* Initialize "uC/OS-II, The Real-Time Kernel" */
/*---- Any initialization code before starting multitasking ---------------------------------------*/
OSTaskStkSize = OS_TASK_START_STK_SIZE; /* Setup the total stack size */
OSTaskHardStkSize = OS_TASK_START_HARD_STK_SIZE; /* Setup the hardware stack size */
OSTaskCreate(AppTaskStart, (void *)0, (OS_STK *)&AppTaskStartStk[OSTaskStkSize - 1], 0);
/*---- Create any other task you want before we start multitasking --------------------------------*/
OSStart(); /* Start multitasking (i.e. give control to uC/OS-II) */
}
/*
*********************************************************************************************************
* STARTUP TASK
*
* Description : This is an example of a startup task. As mentioned in the book's text, you MUST
* initialize the ticker only once multitasking has started.
*
* Arguments : p_arg is the argument passed to 'AppStartTask()' by 'OSTaskCreate()'.
*
* Notes : 1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*********************************************************************************************************
*/
static void AppTaskStart (void *p_arg)
{
p_arg = p_arg; /* Prevent compiler warnings */
OSTickISR_Init(); /* Initialize the ticker */
AppIOInit(); /* Initialize the I/Os */
AppTaskCreate();
while (TRUE) { /* Task body, always written as an infinite loop. */
LED_Toggle(1);
OSTimeDly(OS_TICKS_PER_SEC / 10);
}
}
/*
*********************************************************************************************************
* CREATE APPLICATION TASKS
*
* Description : This function creates the application tasks.
*
* Arguments : p_arg is the argument passed to 'AppStartTask()' by 'OSTaskCreate()'.
*
* Notes : 1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*********************************************************************************************************
*/
static void AppTaskCreate (void)
{
/*---- Task initialization code goes HERE! --------------------------------------------------------*/
OSTaskStkSize = OS_TASK_1_STK_SIZE; /* Setup the default stack size */
OSTaskHardStkSize = OS_TASK_1_HARD_STK_SIZE; /* Setup the default hardware stack size */
OSTaskCreate(AppTask1, (void *)0, (OS_STK *)&AppTask1Stk[OSTaskStkSize - 1], 1);
OSTaskStkSize = OS_TASK_2_STK_SIZE; /* Setup the default stack size */
OSTaskHardStkSize = OS_TASK_2_HARD_STK_SIZE; /* Setup the default hardware stack size */
OSTaskCreate(AppTask2, (void *)0, (OS_STK *)&AppTask2Stk[OSTaskStkSize - 1], 2);
}
/*
*********************************************************************************************************
* TASK #1
*********************************************************************************************************
*/
static void AppTask1(void *p_arg)
{
p_arg = p_arg;
while (TRUE) {
LED_Toggle(2);
OSTimeDly(OS_TICKS_PER_SEC / 5);
}
}
/*
*********************************************************************************************************
* TASK #2
*********************************************************************************************************
*/
static void AppTask2(void *p_arg)
{
p_arg = p_arg;
while (TRUE) {
LED_Toggle(3);
OSTimeDly(OS_TICKS_PER_SEC / 2);
}
}
/*
*********************************************************************************************************
* SETUP THE I/Os
*********************************************************************************************************
*/
static void AppIOInit (void)
{
DDRD = 0xFF; /* All PORTD pins are outputs */
PORTD = 0xFF;
}
/*
*********************************************************************************************************
* SETUP THE TICK RATE
*********************************************************************************************************
*/
void OSTickISR_Init (void)
{
TCCR0 = 0x07; /* Set TIMER0 prescaler to CLK/1024 */
TIMSK = 0x01; /* Enable TIMER0 overflow interrupt */
}
/*
*********************************************************************************************************
* SETUP THE TICK RATE
*********************************************************************************************************
*/
void OSTickISR_Handler (void)
{
TCNT0 = 256 - (CPU_CLK_FREQ / OS_TICKS_PER_SEC / 1024);
OSTimeTick();
}
/*
*********************************************************************************************************
* TOGGLE LED
*********************************************************************************************************
*/
static void LED_Toggle (INT8U led)
{
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr;
#endif
OS_ENTER_CRITICAL();
switch (led) {
case 1:
PORTD ^= 0x01;
break;
case 2:
PORTD ^= 0x02;
break;
case 3:
PORTD ^= 0x04;
break;
case 4:
PORTD ^= 0x08;
break;
}
OS_EXIT_CRITICAL();
}