代码为老师教授。
/*
*********************************************************************************************************
* EXAMPLE CODE
*
* (c) Copyright 2013; Micrium, Inc.; Weston, FL
*
* All rights reserved. Protected by international copyright laws.
* Knowledge of the source code may not be used to write a similar
* product. This file may only be used in accordance with a license
* and should not be redistributed in any way.
*********************************************************************************************************
*/
/*
*********************************************************************************************************
*
* EXAMPLE CODE
*
* IAR Development Kits
* on the
*
* STM32F429II-SK KICKSTART KIT
*
* Filename : app.c
* Version : V1.00
* Programmer(s) : YS
* DC
*********************************************************************************************************
*/
/*
*********************************************************************************************************
* INCLUDE FILES
*********************************************************************************************************
*/
#include <includes.h>
#include <led.h>
#include <usart.h>
#define EV_FLAG1 (1 << 0)// 事件1 bit0 结合下面的创建：发生为1
//#define EV_FLAG2 (1 << 1)// 事件2 bit1
OS_FLAG_GRP EventFlags; //定义一个事件标志组 EventFlags
/*
*********************************************************************************************************
* LOCAL DEFINES
*********************************************************************************************************
*/
#define APP_TASK_EQ_0_ITERATION_NBR 16u
/*
*********************************************************************************************************
* LOCAL GLOBAL VARIABLES
*********************************************************************************************************
*/
/* ----------------- APPLICATION GLOBALS -------------- */
static OS_TCB AppTaskStartTCB;
static CPU_STK AppTaskStartStk[APP_CFG_TASK_START_STK_SIZE];
/* ------------ FLOATING POINT TEST TASK -------------- */
static OS_TCB App_TaskEq0FpTCB;
static CPU_STK App_TaskEq0FpStk[APP_CFG_TASK_EQ_STK_SIZE];
/*
*********************************************************************************************************
* FUNCTION PROTOTYPES
*********************************************************************************************************
*/
static void AppTaskStart (void *p_arg);
static void AppTaskCreate (void);
static void AppObjCreate (void);
static void App_TaskEq0Fp (void *p_arg); /* Floating Point Equation 0 task. */
/*
*********************************************************************************************************
* main()
*
* Description : This is the standard entry point for C code. It is assumed that your code will call
* main() once you have performed all necessary initialization.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
OS_ERR err;
OS_TCB Task1TCB;
CPU_STK Task1Stak[100];
OS_TCB Task2TCB;
CPU_STK Task2Stak[100];
void delay(int num)
{
while(num--);
}
OS_MUTEX lock;
int i=0;//全局
int flags_num;
void TaskFunc1(void *tk1){
OS_ERR err;
while(1){
OSFlagPend ((OS_FLAG_GRP *)&EventFlags,
(OS_FLAGS)EV_FLAG1,
(OS_TICK)0,
(OS_OPT)OS_OPT_PEND_FLAG_CLR_ALL|OS_OPT_PEND_BLOCKING|OS_OPT_PEND_FLAG_CONSUME,
(CPU_TS*)0,
(OS_ERR*)&err);
OSMutexPend (&lock,0,OS_OPT_PEND_BLOCKING,0,&err);
while(i<=5){
printf("I AM TASK 1!DO INC NOW I= %d\r\n",i++);
OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_PERIODIC,&err);//周期性延迟2秒
}
OSMutexPost(&lock,OS_OPT_POST_NONE,&err);
//向事件标志组EventFlags发送标志
flags_num=OSFlagPost((OS_FLAG_GRP*)&EventFlags,
(OS_FLAGS )EV_FLAG1,
(OS_OPT )OS_OPT_POST_FLAG_SET,
(OS_ERR* )&err);
OSTimeDlyHMSM(0,0,2,0,OS_OPT_TIME_PERIODIC,&err);//周期性延迟2秒
}
}
void TaskFunc2(void *tk2){
OS_ERR err;
while(1){
OSFlagPend ((OS_FLAG_GRP *)&EventFlags,
(OS_FLAGS)EV_FLAG1,
(OS_TICK)0,
(OS_OPT)OS_OPT_PEND_FLAG_SET_ALL|OS_OPT_PEND_BLOCKING|OS_OPT_PEND_FLAG_CONSUME,
(CPU_TS*)0,
(OS_ERR*)&err);
OSMutexPend (&lock,0,OS_OPT_PEND_BLOCKING,0,&err);
//printf("I AM TASK 2!DO INC NOW I= %d\r\n",i++);
printf("六一快乐");
i = 0;
OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_PERIODIC,&err);//周期性延迟2秒
OSMutexPost(&lock,OS_OPT_POST_NONE,&err);
//向事件标志组EventFlags发送标志
flags_num=OSFlagPost((OS_FLAG_GRP*)&EventFlags,
(OS_FLAGS )EV_FLAG1,
(OS_OPT )OS_OPT_POST_FLAG_CLR,
(OS_ERR* )&err);
OSTimeDlyHMSM(0,0,2,0,OS_OPT_TIME_PERIODIC,&err);//周期性延迟2秒
}
}
int main(void)
{
BSP_IntDisAll(); //关闭所有中断 /* Disable all interrupts. */
CPU_Init(); /* Initialize the uC/CPU Services */
Mem_Init(); /* Initialize Memory Management Module */
Math_Init(); /* Initialize Mathematical Module */
BSP_Init();
BSP_Tick_Init();
usart_init();
OSInit(&err); /* Init uC/OS-III. */
OSSchedRoundRobinCfg(ENABLE,10,&err);//时间片长度
OSMutexCreate (&lock,"print_lock",&err);
OSFlagCreate (&EventFlags,"test", 0,&err);
OSTaskCreate((OS_TCB *)&Task1TCB, /* 创建任务 */
(CPU_CHAR *)"TaskFunc1",
(OS_TASK_PTR )TaskFunc1,
(void *)0u,
(OS_PRIO )3,
(CPU_STK *)&Task1Stak[0],
(CPU_STK_SIZE )10,
(CPU_STK_SIZE )100,
(OS_MSG_QTY )10u,
(OS_TICK )10u,
(void *)NULL,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
if(err != OS_ERR_NONE)
{
printf("TASK CREATE ERROR!\r\n");
}
OSTaskCreate((OS_TCB *)&Task2TCB, // 创建任务
(CPU_CHAR *)"TaskFunc2",
(OS_TASK_PTR )TaskFunc2,
(void *)0u,
(OS_PRIO )5,
(CPU_STK *)&Task2Stak[0],
(CPU_STK_SIZE )10,
(CPU_STK_SIZE )100,
(OS_MSG_QTY )10u,
(OS_TICK )10u,
(void *)NULL,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
if(err != OS_ERR_NONE)
{
printf("TASK CREATE ERROR!\r\n");
}
OSStart(&err); //执行任务(休眠区->就绪区)
(void)&err;
return (0u);
}
/*
*********************************************************************************************************
* 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 'AppTaskStart()' by 'OSTaskCreate()'.
*
* Returns : none
*
* 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)
{
OS_ERR err;
(void)p_arg;
BSP_Init(); /* Initialize BSP functions */
BSP_Tick_Init(); /* Initialize Tick Services. */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN
CPU_IntDisMeasMaxCurReset();
#endif
BSP_LED_Off(0u); /* Turn Off LEDs after initialization */
APP_TRACE_DBG(("Creating Application Kernel Objects\n\r"));
AppObjCreate(); /* Create Applicaiton kernel objects */
APP_TRACE_DBG(("Creating Application Tasks\n\r"));
AppTaskCreate(); /* Create Application tasks */
while (DEF_TRUE) { /* Task body, always written as an infinite loop. */
BSP_LED_Toggle(1u);
OSTimeDlyHMSM(0u, 0u, 0u, 100u,
OS_OPT_TIME_HMSM_STRICT,
&err);
BSP_LED_Toggle(2u);
OSTimeDlyHMSM(0u, 0u, 0u, 100u,
OS_OPT_TIME_HMSM_STRICT,
&err);
BSP_LED_Toggle(3u);
OSTimeDlyHMSM(0u, 0u, 0u, 100u,
OS_OPT_TIME_HMSM_STRICT,
&err);
BSP_LED_Toggle(4u);
OSTimeDlyHMSM(0u, 0u, 0u, 100u,
OS_OPT_TIME_HMSM_STRICT,
&err);
}
}
/*
*********************************************************************************************************
* AppTaskCreate()
*
* Description : Create application tasks.
*
* Argument(s) : none
*
* Return(s) : none
*
* Caller(s) : AppTaskStart()
*
* Note(s) : none.
*********************************************************************************************************
*/
static void AppTaskCreate (void)
{
OS_ERR os_err;
/* ------------- CREATE FLOATING POINT TASK ----------- */
OSTaskCreate((OS_TCB *)&App_TaskEq0FpTCB,
(CPU_CHAR *)"FP Equation 1",
(OS_TASK_PTR ) App_TaskEq0Fp,
(void *) 0,
(OS_PRIO ) APP_CFG_TASK_EQ_PRIO,
(CPU_STK *)&App_TaskEq0FpStk[0],
(CPU_STK_SIZE ) App_TaskEq0FpStk[APP_CFG_TASK_EQ_STK_SIZE / 10u],
(CPU_STK_SIZE ) APP_CFG_TASK_EQ_STK_SIZE,
(OS_MSG_QTY ) 0u,
(OS_TICK ) 0u,
(void *) 0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR | OS_OPT_TASK_SAVE_FP),
(OS_ERR *)&os_err);
}
/*
*********************************************************************************************************
* AppObjCreate()
*
* Description : Create application kernel objects tasks.
*
* Argument(s) : none
*
* Return(s) : none
*
* Caller(s) : AppTaskStart()
*
* Note(s) : none.
*********************************************************************************************************
*/
static void AppObjCreate (void)
{
}
/*
*********************************************************************************************************
* App_TaskEq0Fp()
*
* Description : This task finds the root of the following equation.
* f(x) = e^-x(3.2 sin(x) - 0.5 cos(x)) using the bisection mehtod
*
* Argument(s) : p_arg is the argument passed to 'App_TaskEq0Fp' by 'OSTaskCreate()'.
*
* Return(s) : none.
*
* Note(s) : none.
*********************************************************************************************************
*/
void App_TaskEq0Fp (void *p_arg)
{
CPU_FP32 a;
CPU_FP32 b;
CPU_FP32 c;
CPU_FP32 eps;
CPU_FP32 f_a;
CPU_FP32 f_c;
CPU_FP32 delta;
CPU_INT08U iteration;
RAND_NBR wait_cycles;
while (DEF_TRUE) {
eps = 0.00001;
a = 3.0;
b = 4.0;
delta = a - b;
iteration = 0u;
if (delta < 0) {
delta = delta * -1.0;
}
while (((2.00 * eps) < delta) ||
(iteration > 20u )) {
c = (a + b) / 2.00;
f_a = (exp((-1.0) * a) * (3.2 * sin(a) - 0.5 * cos(a)));
f_c = (exp((-1.0) * c) * (3.2 * sin(c) - 0.5 * cos(c)));
if (((f_a > 0.0) && (f_c < 0.0)) ||
((f_a < 0.0) && (f_c > 0.0))) {
b = c;
} else if (((f_a > 0.0) && (f_c > 0.0)) ||
((f_a < 0.0) && (f_c < 0.0))) {
a = c;
} else {
break;
}
delta = a - b;
if (delta < 0) {
delta = delta * -1.0;
}
iteration++;
wait_cycles = Math_Rand();
wait_cycles = wait_cycles % 1000;
while (wait_cycles > 0u) {
wait_cycles--;
}
if (iteration > APP_TASK_EQ_0_ITERATION_NBR) {
APP_TRACE_INFO(("App_TaskEq0Fp() max # iteration reached\n"));
break;
}
}
APP_TRACE_INFO(("Eq0 Task Running ....\n"));
if (iteration == APP_TASK_EQ_0_ITERATION_NBR) {
APP_TRACE_INFO(("Root = %f; f(c) = %f; #iterations : %d\n", c, f_c, iteration));
}
}
}