?? test.c
字號(hào):
/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
* (c) Copyright 1992-2002, Jean J. Labrosse, Weston, FL
* All Rights Reserved
*
* EXAMPLE #4
*********************************************************************************************************
*/
#include "includes.h"
/*$PAGE*/
/*
*********************************************************************************************************
* CONSTANTS
*********************************************************************************************************
*/
#define TASK_STK_SIZE 512 /* Size of each task's stacks (# of WORDs) */
#define N_TASKS 10 /* Number of identical tasks */
/*
*********************************************************************************************************
* VARIABLES
*********************************************************************************************************
*/
OS_STK TaskStk[N_TASKS][TASK_STK_SIZE]; /* Tasks stacks */
OS_STK TaskStartStk[TASK_STK_SIZE];
INT8U TaskData[N_TASKS]; /* Parameters to pass to each task */
/*
*********************************************************************************************************
* FUNCTION PROTOTYPES
*********************************************************************************************************
*/
void Task(void *data); /* Function prototypes of tasks */
void TaskStart(void *data); /* Function prototypes of Startup task */
static void TaskStartCreateTasks(void);
static void TaskStartDispInit(void);
static void TaskStartDisp(void);
/*$PAGE*/
/*
*********************************************************************************************************
* MAIN
*********************************************************************************************************
*/
void main (void)
{
PC_DispClrScr(DISP_FGND_WHITE + 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 */
OSTaskCreateExt(TaskStart,
(void *)0,
&TaskStartStk[TASK_STK_SIZE - 1],
0, /* Task priority = 0 */
0,
&TaskStartStk[0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_SAVE_FP);
OSStart(); /* Start multitasking */
}
/*$PAGE*/
/*
*********************************************************************************************************
* STARTUP TASK
*********************************************************************************************************
*/
void TaskStart (void *pdata)
{
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr;
#endif
INT8U i;
char s[100];
INT16S key;
pdata = pdata; /* Prevent compiler warning */
TaskStartDispInit(); /* Initialize the display */
OS_ENTER_CRITICAL();
PC_VectSet(0x08, OSTickISR); /* Install uC/OS-II's clock tick ISR */
PC_SetTickRate(OS_TICKS_PER_SEC); /* Reprogram tick rate */
OS_EXIT_CRITICAL();
OSStatInit(); /* Initialize uC/OS-II's statistics */
TaskStartCreateTasks(); /* Create all the application tasks */
for (;;) {
TaskStartDisp();
if (PC_GetKey(&key) == TRUE) { /* See if key has been pressed */
if (key == 0x1B) { /* Yes, see if it's the ESCAPE key */
PC_DOSReturn(); /* Return to DOS */
}
}
OSCtxSwCtr = 0;
OSTimeDlyHMSM(0, 0, 1, 0); /* Wait one second */
}
}
/*$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 #4 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 4, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 5, "TaskPrio Angle cos(Angle) sin(Angle) ", 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, 9, " ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
PC_DispStr( 0, 10, " ", 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);
/* 1111111111222222222233333333334444444444555555555566666666667777777777 */
/* 01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
}
/*$PAGE*/
/*
*********************************************************************************************************
* UPDATE THE DISPLAY
*********************************************************************************************************
*/
static void TaskStartDisp (void)
{
char s[80];
sprintf(s, "%5d", OSTaskCtr); /* Display #tasks running */
PC_DispStr(18, 22, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
#if OS_TASK_STAT_EN > 0
sprintf(s, "%3d", OSCPUUsage); /* Display CPU usage in % */
PC_DispStr(36, 22, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
#endif
sprintf(s, "%5d", OSCtxSwCtr); /* Display #context switches per second */
PC_DispStr(18, 23, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
sprintf(s, "V%4.2f", (float)OSVersion() * 0.01); /* Display uC/OS-II's version number */
PC_DispStr(75, 24, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);
switch (_8087) { /* Display whether FPU present */
case 0:
PC_DispStr(71, 22, " NO FPU ", DISP_FGND_YELLOW + DISP_BGND_BLUE);
break;
case 1:
PC_DispStr(71, 22, " 8087 FPU", DISP_FGND_YELLOW + DISP_BGND_BLUE);
break;
case 2:
PC_DispStr(71, 22, "80287 FPU", DISP_FGND_YELLOW + DISP_BGND_BLUE);
break;
case 3:
PC_DispStr(71, 22, "80387 FPU", DISP_FGND_YELLOW + DISP_BGND_BLUE);
break;
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* CREATE TASKS
*********************************************************************************************************
*/
static void TaskStartCreateTasks (void)
{
INT8U i;
INT8U prio;
for (i = 0; i < N_TASKS; i++) { /* Create N_TASKS identical tasks */
prio = i + 1;
TaskData[i] = prio;
OSTaskCreateExt(Task,
(void *)&TaskData[i],
&TaskStk[i][TASK_STK_SIZE - 1],
prio,
0,
&TaskStk[i][0],
TASK_STK_SIZE,
(void *)0,
OS_TASK_OPT_SAVE_FP);
}
}
/*
*********************************************************************************************************
* TASKS
*********************************************************************************************************
*/
void Task (void *pdata)
{
FP32 x;
FP32 y;
FP32 angle;
FP32 radians;
char s[81];
INT8U ypos;
ypos = *(INT8U *)pdata + 7;
angle = (FP32)(*(INT8U *)pdata) * (FP32)36.0;
for (;;) {
radians = (FP32)2.0 * (FP32)3.141592 * angle / (FP32)360.0;
x = cos(radians);
y = sin(radians);
sprintf(s, " %2d %8.3f %8.3f %8.3f", *(INT8U *)pdata, angle, x, y);
PC_DispStr(0, ypos, s, DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
if (angle >= (FP32)360.0) {
angle = (FP32)0.0;
} else {
angle += (FP32)0.01;
}
OSTimeDly(1);
}
}
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