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#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "usart2.h"
#include "includes.h"
#include "timer.h"
#include "led.h"
#define START_TASK_PRIO 3
#define START_STK_SIZE 128
OS_TCB StartTaskTCB;
CPU_STK START_TASK_STK[START_STK_SIZE];
void start_task(void *p_arg);
#define TASK1_TASK_PRIO 4
#define TASK1_STK_SIZE 128
OS_TCB Task1_TaskTCB;
CPU_STK TASK1_TASK_STK[TASK1_STK_SIZE];
void task1_task(void *p_arg);
#define TASK2_TASK_PRIO 5
#define TASK2_STK_SIZE 128
OS_TCB Task2_TaskTCB;
CPU_STK TASK2_TASK_STK[TASK2_STK_SIZE];
void task2_task(void *p_arg);
#define TASK3_TASK_PRIO 6
#define TASK3_STK_SIZE 128
OS_TCB Task3_TaskTCB;
CPU_STK TASK3_TASK_STK[TASK3_STK_SIZE];
void task3_task(void *p_arg);
#define TASK4_TASK_PRIO 7
#define TASK4_STK_SIZE 128
OS_TCB Task4_TaskTCB;
CPU_STK TASK4_TASK_STK[TASK4_STK_SIZE];
void task4_task(void *p_arg);
//主函數
int main(void)
{
OS_ERR err;
CPU_SR_ALLOC();
//模塊初始化
delay_init(); //時鐘初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//中斷分組配置
uart_init(115200); //串口初始化
//Usart3_Init();
//USART_SendData(USART3,5);
//LED_Init(); //LED初始化
Servo_Init();
Motor_Init();
Timer4_Init(); //1kHz 1ms中斷一次
Bsp_Int_Ok = 1;
//初始化完成
Servo_Out(750,750,750,750);
OSInit(&err); //初始化UCOSIII
OS_CRITICAL_ENTER(); //進入臨界區
//創建開始任務
OSTaskCreate((OS_TCB * )&StartTaskTCB, //任務控制塊
(CPU_CHAR * )"start task", //任務名字
(OS_TASK_PTR )start_task, //任務函數
(void * )0, //傳遞給任務函數的參數
(OS_PRIO )START_TASK_PRIO, //任務優先級
(CPU_STK * )&START_TASK_STK[0], //任務堆棧基地址
(CPU_STK_SIZE)START_STK_SIZE/10, //任務堆棧深度限位
(CPU_STK_SIZE)START_STK_SIZE, //任務堆棧大小
(OS_MSG_QTY )0, //任務內部消息隊列能夠接收的最大消息數目,為0時禁止接收消息
(OS_TICK )0, //當使能時間片輪轉時的時間片長度，為0時為默認長度，
(void * )0, //用戶補充的存儲區
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, //任務選項
(OS_ERR * )&err); //存放該函數錯誤時的返回值
OS_CRITICAL_EXIT(); //退出臨界區
OSStart(&err); //開啟UCOSIII
}
//開始任務任務函數
void start_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
p_arg = p_arg;
CPU_Init();
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); //統計任務
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN //如果使能了測量中斷關閉時間
CPU_IntDisMeasMaxCurReset();
#endif
#if OS_CFG_SCHED_ROUND_ROBIN_EN //當使用時間片輪轉的時候
//使能時間片輪轉調度功能,時間片長度為1個系統時鐘節拍，既1*5=5ms
OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
#endif
OS_CRITICAL_ENTER(); //進入臨界區
//創建TASK1任務
OSTaskCreate((OS_TCB * )&Task1_TaskTCB,
(CPU_CHAR * )"Task1 task",
(OS_TASK_PTR )task1_task,
(void * )0,
(OS_PRIO )TASK1_TASK_PRIO,
(CPU_STK * )&TASK1_TASK_STK[0],
(CPU_STK_SIZE)TASK1_STK_SIZE/10,
(CPU_STK_SIZE)TASK1_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//創建TASK2任務
OSTaskCreate((OS_TCB * )&Task2_TaskTCB,
(CPU_CHAR * )"task2 task",
(OS_TASK_PTR )task2_task,
(void * )0,
(OS_PRIO )TASK2_TASK_PRIO,
(CPU_STK * )&TASK2_TASK_STK[0],
(CPU_STK_SIZE)TASK2_STK_SIZE/10,
(CPU_STK_SIZE)TASK2_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//創建TASK3任務
OSTaskCreate((OS_TCB * )&Task3_TaskTCB,
(CPU_CHAR * )"task3 task",
(OS_TASK_PTR )task3_task,
(void * )0,
(OS_PRIO )TASK3_TASK_PRIO,
(CPU_STK * )&TASK3_TASK_STK[0],
(CPU_STK_SIZE)TASK3_STK_SIZE/10,
(CPU_STK_SIZE)TASK3_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//創建TASK4任務
OSTaskCreate((OS_TCB * )&Task4_TaskTCB,
(CPU_CHAR * )"task4 task",
(OS_TASK_PTR )task4_task,
(void * )0,
(OS_PRIO )TASK4_TASK_PRIO,
(CPU_STK * )&TASK4_TASK_STK[0],
(CPU_STK_SIZE)TASK4_STK_SIZE/10,
(CPU_STK_SIZE)TASK4_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
OS_CRITICAL_EXIT(); //退出臨界區
OSTaskDel((OS_TCB*)0,&err); //刪除start_task任務自身
}
u16 len = 0;
u16 t = 0;
//task1任務函數
void task1_task(void *p_arg)
{
OS_ERR err;
err = err;
p_arg = p_arg;
while(1)
{
if( Count_10ms >= 10 )
{
Count_10ms = 0;
}
if( Count_20ms >= 20 )
{
Count_20ms = 0;
/*
error = error_get;
val_out = Kp * error + Kd*(error-error_last);
error_last = error;
Servo_PWM = val_out + 750;
TIM2->CCR2 = Servo_PWM;
*/
}
if( Count_40ms >= 40 )
{
Count_40ms = 0;
if( USART_RX_STA & 0x8000 )
{
len=USART_RX_STA&0x3fff;//得到此次接收到的數據長度
//printf("\r\n your message:\r\n");
for(t=0;t<len;t++)
{
USART1->DR=USART_RX_BUF[t];
while((USART1->SR&0X40)==0);//等待發送結束
}
//printf("\r\n");//插入換行
USART_RX_STA=0;
}
}
}
}
//task2任務函數
void task2_task(void *p_arg)
{
u8 task2_num=0;
OS_ERR err;
p_arg = p_arg;
while(1)
{
task2_num++; //任務2執行次數加1 注意task1_num2加到255的時候會清零！！
//printf("task2 runs;%dtimes\r\n",task2_num);
OSTimeDlyHMSM(0,0,2,0,OS_OPT_TIME_HMSM_STRICT,&err); //延時1s
}
}
//task3任務函數
void task3_task(void *p_arg)
{
u8 task3_num=0;
OS_ERR err;
p_arg = p_arg;
while(1)
{
task3_num++; //任務2執行次數加1 注意task1_num2加到255的時候會清零�。�
//printf("task3 runs;%dtimes\r\n",task3_num);
OSTimeDlyHMSM(0,0,3,0,OS_OPT_TIME_HMSM_STRICT,&err); //延時1s
}
}
//task4任務函數
void task4_task(void *p_arg)
{
u8 task4_num=0;
OS_ERR err;
p_arg = p_arg;
while(1)
{
task4_num++; //任務2執行次數加1 注意task1_num2加到255的時候會清零！！
//printf("task4 runs;%dtimes\r\n",task4_num);
OSTimeDlyHMSM(0,0,4,0,OS_OPT_TIME_HMSM_STRICT,&err); //延時1s
}
}

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