/*
*********************************************************************************************************
*                                                uC/OS-II
*                                          The Real-Time Kernel
*
*                          (c) Copyright 1992-2002, Jean J. Labrosse, Weston, FL
*                                           All Rights Reserved
*
*                                               EXAMPLE #3
*********************************************************************************************************
*/

#include "includes.h"

/*
*********************************************************************************************************
*                                              CONSTANTS
*********************************************************************************************************
*/

#define          TASK_STK_SIZE     512                /* Size of each task‘s stacks (# of WORDs)       */

#define          TASK_START_ID       0                /* Application tasks                             */
#define          TASK_CLK_ID         1
#define          TASK_1_ID           2
#define          TASK_2_ID           3
#define          TASK_3_ID           4
#define          TASK_4_ID           5
#define          TASK_5_ID           6
#define          TASK_6_ID           7
#define          TASK_7_ID           8
#define          TASK_8_ID           9
#define          TASK_9_ID           10

#define          TASK_START_PRIO    10                /* Application tasks priorities                  */
#define          TASK_CLK_PRIO      11
#define          TASK_1_PRIO        12
#define          TASK_2_PRIO        13
#define          TASK_3_PRIO        14
#define          TASK_4_PRIO        15
#define          TASK_5_PRIO        16
#define          TASK_6_PRIO        17
#define          TASK_7_PRIO        18
#define          TASK_8_PRIO        19
#define          TASK_9_PRIO        20

#define          MSG_QUEUE_SIZE     20                /* Size of message queue used in example         */

#define          OSSemquery_en      1

/*
*********************************************************************************************************
*                                             DATA TYPES
*********************************************************************************************************
*/

typedef struct {
    char    TaskName[30];
    INT16U  TaskCtr;
    INT16U  TaskExecTime;
    INT32U  TaskTotExecTime;
} TASK_USER_DATA;

/*
*********************************************************************************************************
*                                              VARIABLES
*********************************************************************************************************
*/

OS_STK          TaskStartStk[TASK_STK_SIZE];          /* Startup    task stack                         */
OS_STK          TaskClkStk[TASK_STK_SIZE];            /* Clock      task stack                         */
OS_STK          Task1Stk[TASK_STK_SIZE];              /* Task #1    task stack                         */
OS_STK          Task2Stk[TASK_STK_SIZE];              /* Task #2    task stack                         */
OS_STK          Task3Stk[TASK_STK_SIZE];              /* Task #3    task stack                         */
OS_STK          Task4Stk[TASK_STK_SIZE];              /* Task #4    task stack                         */
OS_STK          Task5Stk[TASK_STK_SIZE];              /* Task #5    task stack                         */
OS_STK          Task6Stk[TASK_STK_SIZE];              /* Task #6    task stack                         */
OS_STK          Task7Stk[TASK_STK_SIZE];              /* Task #7    task stack                         */
OS_STK          Task8Stk[TASK_STK_SIZE];              /* Task #8    task stack                         */
OS_STK          Task9Stk[TASK_STK_SIZE];              /* Task #9    task stack                         */

TASK_USER_DATA  TaskUserData[11];

OS_EVENT       *MsgQueue,*SEMaphore;                             /* Message queue pointer                         */
void           *MsgQueueTbl[20];                      /* Storage for messages                          */
INT8U sem_debuger;

    INT8U str[10];
    INT8U readywait[64];

/*
*********************************************************************************************************
*                                         FUNCTION PROTOTYPES
*********************************************************************************************************
*/

        void  TaskStart(void *data);                  /* Function prototypes of tasks                  */
static  void  TaskStartCreateTasks(void);
static  void  TaskStartDispInit(void);
static  void  TaskStartDisp(void);
        void  TaskClk(void *data);
        void  Task1(void *data);
        void  Task2(void *data);
        void  Task3(void *data);
        void  Task4(void *data);
        void  Task5(void *data);
        void  DispTaskStat(INT8U id);
        void  Task6(void *data);
        void  Task7(void *data);
        void  Task8(void *data);
        void  Task9(void *data);
        
void OS_SCHED_HOOK(void);
#if OSSemquery_en>0
  void OSSemquery_HOOK(OS_EVENT *pevent,INT8U semaphore_data);
#endif  
/*$PAGE*/
/*
*********************************************************************************************************
*                                                  MAIN
*********************************************************************************************************
*/

void  main (void)
{
    PC_DispClrScr(DISP_BGND_BLACK);                        /* Clear the screen                         */

    OSInit();                                              /* Initialize uC/OS-II                      */

    PC_DOSSaveReturn();                                    /* Save environment to return to DOS        */

    PC_VectSet(uCOS, OSCtxSw);                             /* Install uC/OS-II‘s context switch vector */

    PC_ElapsedInit();                                      /* Initialized elapsed time measurement     */

    strcpy(TaskUserData[TASK_START_ID].TaskName, "StartTask");
    OSTaskCreateExt(TaskStart,
                    (void *)0,
                    &TaskStartStk[TASK_STK_SIZE - 1],
                    TASK_START_PRIO,
                    TASK_START_ID,
                    &TaskStartStk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_START_ID],
                    0);
    OSStart();                                             /* Start multitasking                       */
}

/*$PAGE*/
/*
*********************************************************************************************************
*                                               STARTUP TASK
*********************************************************************************************************
*/

void  TaskStart (void *pdata)
{
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */
    OS_CPU_SR  cpu_sr;
#endif
    INT16S     key;


    pdata = pdata;                                         /* Prevent compiler warning                 */

    TaskStartDispInit();                                   /* Setup the display                        */

    OS_ENTER_CRITICAL();                                   /* Install uC/OS-II‘s clock tick ISR        */
    PC_VectSet(0x08, OSTickISR);
    PC_SetTickRate(OS_TICKS_PER_SEC);                      /* Reprogram tick rate                      */
    OS_EXIT_CRITICAL();

    OSStatInit();                                          /* Initialize uC/OS-II‘s statistics         */

    MsgQueue = OSQCreate(&MsgQueueTbl[0], MSG_QUEUE_SIZE); /* Create a message queue                   */
    SEMaphore=OSSemCreate(2);
    TaskStartCreateTasks();

    for (;;) {
        TaskStartDisp();                                  /* Update the display                       */

        if (PC_GetKey(&key)) {                             /* See if key has been pressed              */
            if (key == 0x1B) {                             /* Yes, see if it‘s the ESCAPE key          */
                PC_DOSReturn();                            /* Yes, return to DOS                       */
            }
        }

        OSCtxSwCtr = 0;                                    /* Clear the context switch counter         */
        OSTimeDly(OS_TICKS_PER_SEC);                       /* Wait one second                          */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                      CREATE APPLICATION TASKS
*********************************************************************************************************
*/

void  TaskStartCreateTasks (void)
{
    strcpy(TaskUserData[TASK_CLK_ID].TaskName, "Clock Task");
    OSTaskCreateExt(TaskClk,
                    (void *)0,
                    &TaskClkStk[TASK_STK_SIZE - 1],
                    TASK_CLK_PRIO,
                    TASK_CLK_ID,
                    &TaskClkStk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_CLK_ID],
                    0);

    strcpy(TaskUserData[TASK_1_ID].TaskName, "MsgQ Rx Task");
    OSTaskCreateExt(Task1,
                    (void *)0,
                    &Task1Stk[TASK_STK_SIZE - 1],
                    TASK_1_PRIO,
                    TASK_1_ID,
                    &Task1Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_1_ID],
                    0);

    strcpy(TaskUserData[TASK_2_ID].TaskName, "MsgQ Tx Task #2");
    OSTaskCreateExt(Task2,
                    (void *)0,
                    &Task2Stk[TASK_STK_SIZE - 1],
                    TASK_2_PRIO,
                    TASK_2_ID,
                    &Task2Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_2_ID],
                    0);

    strcpy(TaskUserData[TASK_3_ID].TaskName, "MsgQ Tx Task #3");
    OSTaskCreateExt(Task3,
                    (void *)0,
                    &Task3Stk[TASK_STK_SIZE - 1],
                    TASK_3_PRIO,
                    TASK_3_ID,
                    &Task3Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_3_ID],
                    0);

    strcpy(TaskUserData[TASK_4_ID].TaskName, "MsgQ Tx Task #4");
    OSTaskCreateExt(Task4,
                    (void *)0,
                    &Task4Stk[TASK_STK_SIZE - 1],
                    TASK_4_PRIO,
                    TASK_4_ID,
                    &Task4Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_4_ID],
                    0);

    strcpy(TaskUserData[TASK_5_ID].TaskName, "TimeDlyTask");
    OSTaskCreateExt(Task5,
                    (void *)0,
                    &Task5Stk[TASK_STK_SIZE - 1],
                    TASK_5_PRIO,
                    TASK_5_ID,
                    &Task5Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_5_ID],
                    0);
    strcpy(TaskUserData[TASK_6_ID].TaskName, "Task6");
    OSTaskCreateExt(Task6,
                    (void *)0,
                    &Task6Stk[TASK_STK_SIZE - 1],
                    TASK_6_PRIO,
                    TASK_6_ID,
                    &Task6Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_6_ID],
                    0);
   strcpy(TaskUserData[TASK_7_ID].TaskName, "Task7");
    OSTaskCreateExt(Task7,
                    (void *)0,
                    &Task7Stk[TASK_STK_SIZE - 1],
                    TASK_7_PRIO,
                    TASK_7_ID,
                    &Task7Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_7_ID],
                    0);
   strcpy(TaskUserData[TASK_8_ID].TaskName, "Task8");
    OSTaskCreateExt(Task8,
                    (void *)0,
                    &Task8Stk[TASK_STK_SIZE - 1],
                    TASK_8_PRIO,
                    TASK_8_ID,
                    &Task8Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_8_ID],
                    0);
   strcpy(TaskUserData[TASK_9_ID].TaskName, "Task9");
    OSTaskCreateExt(Task9,
                    (void *)0,
                    &Task9Stk[TASK_STK_SIZE - 1],
                    TASK_9_PRIO,
                    TASK_9_ID,
                    &Task9Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_9_ID],
                    0);
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                        INITIALIZE THE DISPLAY
*********************************************************************************************************
*/

static  void  TaskStartDispInit (void)
{
/*                                1111111111222222222233333333334444444444555555555566666666667777777777 */
/*                      01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
    PC_DispStr( 0,  0, "                         uC/OS-II, The Real-Time Kernel                         ", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
    PC_DispStr( 0,  1, "                                Jean J. Labrosse                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  2, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  3, "                                    EXAMPLE #3                                  ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  9, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  10, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  6, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  7, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  8, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  4, "Task Name         Counter  Exec.Time(uS)   Tot.Exec.Time(uS)  %Tot.             ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 5, "----------------- -------  -------------   -----------------  -----              ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 11, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 12, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 13, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 14, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 15, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 16, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 17, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 18, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 19, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 20, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 21, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 22, "#Tasks          :        CPU Usage:     %                                       ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 23, "#Task switch/sec:                                                               ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 24, "                            <-PRESS ‘ESC‘ TO QUIT->                             ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY + DISP_BLINK);
    PC_DispStr( 0, 25, "--------------------------------Tasks osched------------------------------------", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 26, "#Current Task:                                                                  ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 27, "#Be going to Task:                                                              ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 28, "Task execute order:                                                             ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 29, "#post Message  Task:                                                            ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 30, "#Waiting Message Task:                                                          ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 31, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 32, "#post Message queue Task:                                                       ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 33, "#Waiting Message queue Task:                                                    ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);

    PC_DispStr( 0, 34, "#Waiting semaphore Task:                                                        ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 35, "#semaphore value:           #resource:                                          ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 36, "#posting semaphore Task:                                                        ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);

    PC_DispStr( 0, 37, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 38, "#Waiting MUTUAL semaphore Task:                                                 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 39, "#waiting tasks queue:                                                           ", DISP_FGND_BLACK +DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 40, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 41, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 42, "                                                                                ", DISP_FGND_BLACK +DISP_BGND_RED);

/*                                1111111111222222222233333333334444444444555555555566666666667777777777 */
/*                      01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
}

/*$PAGE*/%C
/*
*********************************************************************************************************
*                                           UPDATE THE DISPLAY
*********************************************************************************************************
*/

static  void  TaskStartDisp (void)
{
    char   s[80];


    sprintf(s, "%5d", OSTaskCtr);                                  /* Display #tasks running               */
    PC_DispStr(18, 22, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);

#if OS_TASK_STAT_EN > 0
    sprintf(s, "%3d", OSCPUUsage);                                 /* Display CPU usage in %               */
    PC_DispStr(36, 22, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
#endif

    sprintf(s, "%5d", OSCtxSwCtr);                                 /* Display #context switches per second */
    PC_DispStr(18, 23, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);

    sprintf(s, "V%1d.%02d", OSVersion() / 100, OSVersion() % 100); /* Display uC/OS-II‘s version number    */
    PC_DispStr(75, 24, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);

    switch (_8087) {                                               /* Display whether FPU present          */
        case 0:
      &

专栏文章内容及配图由作者撰写发布，仅供工程师学习之用，如有侵权或者其他违规问题，请联系本站处理。 联系我们