/***********************************************************************************************************                                                uC/OS-II*                                          The Real-Time Kernel**                             (c) Copyright 2003, Micrium, Inc., Weston, FL*                         (c) Copyright 2003, JIDEC Consultants, Sherbrooke, QC*                                          All Rights Reserved**                                             Cogent CSB337*                                              Sample code* File         : APP.C* Originally by: Jean J. Labrosse* Modified by  : Christian Legare* Modified by  : Jean-Denis Hatier***********************************************************************************************************/#include <includes.h>/***********************************************************************************************************                                               CONSTANTS**********************************************************************************************************/#define  TASK_START_APP_PRIO    10#define  TASK_APP_1_PRIO        15#define  TASK_APP_2_PRIO        20#define  TASK_STK_SIZE        2048/***********************************************************************************************************                                               VARIABLES**********************************************************************************************************/        OS_STK  AppStartTaskStk[TASK_STK_SIZE];        OS_STK  AppTask1Stk[TASK_STK_SIZE];        OS_STK  AppTask2Stk[TASK_STK_SIZE];static  INT16U  AppTask1LedStatus;static  INT16U  AppTask2LedStatus;static  INT16U  Switch0Pressed;static  INT16U  TaskSelected;/***********************************************************************************************************                                          FUNCTION PROTOTYPES**********************************************************************************************************/static  void  AppStartTask(void *p_arg);static  void  AppTask1(void *p_arg);static  void  AppTask2(void *p_arg);/***********************************************************************************************************                                             C ENTRY POINT**********************************************************************************************************/int  main (void){    INT8U err;    BSP_Init();                                 /* Initialize CSB337 BSP                               */    mon_printf("\r\nInitialize uC/OS-II...");    OSInit();                                   /* Initialize uC/OS-II                                 */                                                /* Create start task                                   */    OSTaskCreateExt(AppStartTask,                    NULL,                    (OS_STK *)&AppStartTaskStk[TASK_STK_SIZE - 1],                    TASK_START_APP_PRIO,                    TASK_START_APP_PRIO,                    (OS_STK *)&AppStartTaskStk[0],                    TASK_STK_SIZE,                    NULL,                    OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);                                                /* Give a name to tasks                                */#if OS_TASK_NAME_SIZE > 10    OSTaskNameSet(OS_IDLE_PRIO,        "Idle task",  &err);    OSTaskNameSet(OS_STAT_PRIO,        "Stat task",  &err);    OSTaskNameSet(TASK_START_APP_PRIO, "Start task", &err);#endif    mon_printf("\r\nStart uC/OS-II...");    OSStart();                                  /* Start uC/OS-II                                      */}/*$PAGE*//***********************************************************************************************************                                              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.*               2) Interrupts are enabled once the task start because the I-bit of the CCR register was*                  set to 0 by 'OSTaskCreate()'.**********************************************************************************************************/static void  AppStartTask (void *p_arg){    p_arg = p_arg;                              /* Prevent compiler warning                            */    mon_printf("\r\nStart timer tick...");    Tmr_TickInit();                             /* Start timer tick                                    */#if OS_TASK_STAT_EN > 0
    mon_printf("\r\nStart statistics...");    OSStatInit();                               /* Start stats task                                    */#endif    
    OSTaskCreate(AppTask1, (void *)0, (void *)&AppTask1Stk[TASK_STK_SIZE], TASK_APP_1_PRIO);    OSTaskCreate(AppTask2, (void *)0, (void *)&AppTask2Stk[TASK_STK_SIZE], TASK_APP_2_PRIO);    mon_printf("\r\nStarting uC/OS-II demo...\n");    mon_printf("Press user switch 0 to toggle between the two tasks\n");    mon_printf("Task 1 : Green LED\n");    AppTask1LedStatus = 1;    AppTask2LedStatus = 0;    Switch0Pressed = 0;    TaskSelected = 1;    while (TRUE) {                              /* Task body, always written as an infinite loop.      */        if (GetPushButtonStatus(1)) {           /* Switch pressed                                      */            if (Switch0Pressed == 0) {                Switch0Pressed = 1;             /* Record switch change of status                      */                switch (TaskSelected) {                    case 1:                         TaskSelected = 2;                         LED_Off(2);            /* Turn off  LED 1                                     */                         mon_printf("Task 2 : Yellow LED\n");                         break;                   case 2:                         TaskSelected = 1;                         LED_Off(3);            /* Turn off  LED 2                                     */                         mon_printf("Task 1 : Green LED\n");                         break;                }            }        }        else {                                  /* Switch unpressed                                    */            if (Switch0Pressed == 1) {                Switch0Pressed = 0;             /* Record switch change of status                      */            }        }                                                /* Delay task execution for 250 ms                     */        OSTimeDly(250 * OS_TICKS_PER_SEC / 1000);    }}/*$PAGE*//***********************************************************************************************************                                                TASK #1** Description : This is an example of a task.* Arguments   : p_arg is the argument passed to 'AppTask1()' 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.*               2) Interrupts are enabled once the task start because the I-bit of the CCR register was*                  set to 0 by 'OSTaskCreate()'.*               3) This Task uses the LEDs and the switch of the CSB355 board,*                  it blinks user LED 2 on the CSB360.**********************************************************************************************************/static void  AppTask1 (void *p_arg){    p_arg = p_arg;                              /* Prevent compiler warning                            */    while (TRUE) {                              /* Task body, always written as an infinite loop.      */        if (TaskSelected == 1) {            switch (AppTask1LedStatus) {            case 0:                LED_On(2);                      /* Turn on LED 2                                       */                AppTask1LedStatus = 1;                break;            case 1:                LED_Off(2);                     /* Turn off LED 2                                      */                AppTask1LedStatus = 0;                break;            }        }                                                /* Delay task execution for 250 ms                     */        OSTimeDly(250 * OS_TICKS_PER_SEC / 1000);    }}/*$PAGE*//***********************************************************************************************************                                                TASK #2** Description : This is an example of a task.* Arguments   : p_arg is the argument passed to 'AppTask2()' 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.*               2) Interrupts are enabled once the task start because the I-bit of the CCR register was*                  set to 0 by 'OSTaskCreate()'.*               3) This Task uses the LEDs and the switch of the CSB355 board,*                  it blinks user LED 3 on the CSB355.**********************************************************************************************************/static void  AppTask2 (void *p_arg){    p_arg = p_arg;                              /* Prevent compiler warning                            */    while (TRUE) {                              /* Task body, always written as an infinite loop.      */        if (TaskSelected == 2) {            switch (AppTask2LedStatus) {            case 0:                LED_On(3);                      /* Turn on LED 3                                       */                AppTask2LedStatus = 1;                break;            case 1:                LED_Off(3);                     /* Turn off LED 3                                      */                AppTask2LedStatus = 0;                break;            }        }                                                /* Delay task execution for 250 ms                     */        OSTimeDly(250 * OS_TICKS_PER_SEC / 1000);    }}