■세마포어■


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/*******************************************************************************
**    File:
**
**        06_SEM.c
**
**  Contents:
**        uC/OS-II programming
**
**    History:
**        Date        Name              Description
**        ------------------------------------------------------------------------
**
*******************************************************************************/
#include "includes.h"
    
/* ...........................................................................
 *
 * 태스크 스택 정의
 * ===================
 */
OS_STK TaskStartStk[TASK_STK_SIZE]; /* START task stack */
OS_STK Task1Stk[TASK_STK_SIZE]; /* Task #1 stack */
OS_STK Task2Stk[TASK_STK_SIZE]; /* Task #2 stack */
//OS_STK Task3Stk[TASK_STK_SIZE]; /* Task #3 stack */
//OS_STK Task4Stk[TASK_STK_SIZE]; /* Task #4 stack */
 
/* ...........................................................................
 *
 * 사용자 메모리 정의
 * ===================
 */
TASK_USER_DATA  TaskUserData[7];
 
/* ...........................................................................
 *
 * 이벤트 컨트롤 & 사용자 정의 블럭 정의
 * ===================
 */
OS_EVENT *sem_id;    /* Semaphore Pointer */
 
extern INT32U USE_OSTimeTickHook;
 
/* ...........................................................................
 *
 * 태스크 함수 원형
 * ===================
 */
void  TaskStart(void *pdata); /* Function prototypes of Startup task */
void  spost(void *pdata);
void  Task2(void *pdata);          
void  Task3(void *pdata);
void  Task4(void *pdata);
 
//
// 어플리케이션 메인 루틴
//
int main(void)
{
    OSInit(); /* microC/OS-II 초기화 */
 
    strcpy(TaskUserData[TASK_START_ID].TaskName, "TaskStart");
    
    // TASK CREATE
    OSTaskCreateExt(TaskStart,
                   (void *)0,
                   &TaskStartStk[TASK_STK_SIZE-1],
                   TASK_START_PRIO,
                   TASK_START_ID,
                   &TaskStartStk[0],
                   TASK_STK_SIZE,
                   &TaskUserData[TASK_START_ID],
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
 
    OSStart(); /* start scheduler */
 
    return 0;    
}
 
//
// 태스크 'START'
//
void  TaskStart (void *pdata)
{
    INT8U err;
    int sem_init;
    OS_SEM_DATA sem_val;    // semaphore control
    int loops;
 
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
    
    USE_OSTimeTickHook = 0; 
    
    // 시스템 초기화(UART, LCD, TimeTick)
    InitSystem();    
 
    OSStatInit();                /* Initialize uC/OS-II's 통계 함수 */
 
    // 세마포어 초기값
    sem_init = 1; //초기값이 1이라서 . 을 찍고 시작한다.
 
    /* TODO #1: 
        create a binary semaphore
        use sem_id and sem_init */
#if 1
    sem_id=OSSemCreate(sem_init);
#endif // TODO #1
 
    // 세마포어 쿼리
    err = OSSemQuery(sem_id, &sem_val);
    if (err) printf("OSSemQuery error found, code[0x%X]\n",err);
 
    strcpy(TaskUserData[TASK_1_ID].TaskName, "spost");
 
    // TASK CREATE
    OSTaskCreateExt(spost,
                    (void *)0,
                    &Task1Stk[TASK_STK_SIZE - 1],
                    TASK_1_PRIO,
                    TASK_1_ID,
                    &Task1Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_1_ID],
                    0);
    // loop counter
    loops = 10;
    for(;;) {
        // 세마포어 대기
        OSSemPend(sem_id, 0, &err); //대기상태로 빠짐
        printf("."); fflush(stdout);
        err = OSSemQuery(sem_id, &sem_val);
        if (err) printf("OSSemQuery error found, code[0x%X]\n",err);
 
        if(loops == 0)
            break; // exit
 
        loops--;
    }
 
    /* TODO #3: 
        delete a semaphore */
#if 0
  OSSemDel(sem_id, OS_DEL_ALWAYS, &err);
#endif // TODO #3
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 'spost'
//
void spost(void *pdata)
{
    INT8U err;
    
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    printf("spost TASK created,\n");
 
    for(;;) {
    /* TODO #2: 
        post to a semaphore */
#if 1
        err = OSSemPost(sem_id);
#endif // TODO #2
        if (err) printf("OSSemPost error found, code[0x%X]\n",err);
        OSTimeDly(100); //1초마다 깨운다.
     }
}
 
/*-----------------------------------------------------------------------------
 * Program : 06_SEM.C
-----------------------------------------------------------------------------*/
 

cs




ROTS에서 세마포어를 쓸때 예외처리는 매우 중요하다.


■뮤텍스■


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/*******************************************************************************
**    File:
**
**        07_MUTEX.c
**
**  Contents:
**        uC/OS-II programming
**
**    History:
**        Date        Name              Description
**        ------------------------------------------------------------------------
**
*******************************************************************************/
#include "includes.h"
 
/* ...........................................................................
 *
 * 태스크 스택 정의
 * ===================
 */
 
int tickets;        // MAX value( 1000 million )
int backupTickets;
int T1_Ticket=0, T2_Ticket= 0;
 
OS_STK TaskStartStk[TASK_STK_SIZE]; /* START task stack */
OS_STK Task1Stk[TASK_STK_SIZE]; /* Task #1 stack */
OS_STK Task2Stk[TASK_STK_SIZE]; /* Task #2 stack */
//OS_STK Task3Stk[TASK_STK_SIZE]; /* Task #3 stack */
//OS_STK Task4Stk[TASK_STK_SIZE]; /* Task #4 stack */
 
/* ...........................................................................
 *
 * 사용자 메모리 정의
 * ===================
 */
TASK_USER_DATA  TaskUserData[7];
 
/* ...........................................................................
 *
 * 이벤트 컨트롤 & 사용자 정의 블럭 정의
 * ===================
 */
#define TICKET_1BILLION        1000000000
#define TICKET_1MILLION        1000000
#define TICKET_10000        10000
#define TICKET_1000            1000
 
OS_EVENT *mid;
 
extern void seedrand(int seed);
extern int randomnumber(void);
int buyTicket(void);
// 1초마다 콘솔에 동작중을 표시(.)
extern INT32U USE_OSTimeTickHook;
 
/* ...........................................................................
 *
 * 태스크 함수 원형
 * ===================
 */
void  TaskStart(void *pdata); /* Function prototypes of Startup task */
void  Task1(void *pdata);
void  Task2(void *pdata);        
void  Task3(void *pdata);
void  Task4(void *pdata);
 
//
// 어플리케이션 메인 루틴
//
int main(void)
{
    OSInit(); /* microC/OS-II 초기화 */
 
    PC_ElapsedInit(); /* Initialized elapsed time measurement     */
 
    strcpy(TaskUserData[TASK_START_ID].TaskName, "TaskStart");
    
    // TASK CREATE
    OSTaskCreateExt(TaskStart,
                   (void *)0,
                   &TaskStartStk[TASK_STK_SIZE-1],
                   TASK_START_PRIO,
                   TASK_START_ID,
                   &TaskStartStk[0],
                   TASK_STK_SIZE,
                   &TaskUserData[TASK_START_ID],
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
 
    OSStart(); /* start scheduler */
 
    return 0;    
}
 
//
// 태스크 'START'
//
void  TaskStart (void *pdata)
{
    INT8U err;
    OS_MUTEX_DATA mutex_data;    // mutex control
    
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    // 시스템 초기화(UART, LCD, TimeTick)
    InitSystem();    
 
    OSStatInit();                /* Initialize uC/OS-II's 통계 함수 */
 
    // 1초마다 콘솔에 동작중을 표시(.)
    USE_OSTimeTickHook = 1; // refer to 'OS_CPU_C.C'
 
    /* TODO #1: 
        create a mutex
        use mid and priority= 3*/
#if 1
    mid = OSMutexCreate(3,&err);
    if (err) printf("OSMutexQuery error found, code[0x%X]\n",err);
#endif // TODO #1
 
    // 뮤텍스 쿼리
    err = OSMutexQuery(mid, &mutex_data);
    if (err) printf("OSMutexQuery error found, code[0x%X]\n",err);
 
    //
    // set random seed
    //
    seedrand( 45 );
    
    // Set Tickets
    tickets= backupTickets = 10 * TICKET_1MILLION; // MAX value( 1 million )
 
    // TASK CREATE
    strcpy(TaskUserData[TASK_1_ID].TaskName, "Task1");
    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);
    if (err) printf("OSTaskCreate error found, code[0x%X]\n",err);
 
    // TASK CREATE
    strcpy(TaskUserData[TASK_2_ID].TaskName, "Task2");
    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);
    if (err) printf("OSTaskCreate error found, code[0x%X]\n",err);
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 1
//
void Task1(void *pdata)
{
    INT8U err;
    OS_MUTEX_DATA mutex_data;    // mutex control
    
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    printf("\n\nTask1 TASK created,\n");
 
    while(1) {
        if(buyTicket() <= 0)
        {
            T1_Ticket++;
            printf("\n[TASK1]COUNTER up to %d\n", T1_Ticket);
            /* delete other task */
            err = OSTaskDel(TASK_2_PRIO);
            break;
        }
        T1_Ticket++;
        OSTimeDly(2);
    }
 
    printf("[TASK1]Total Tickets = %d\n", T1_Ticket + T2_Ticket);
 
    if(backupTickets != (T1_Ticket + T2_Ticket))
        printf("Not good. ticket size is different\n");
    else
        printf("Good!. matched\n");
 
    /* TODO #3: 태스크2 에도 같은게 또 있습니다. 작성하세요
        delete a mutex */
#if 0
 
#endif // TODO #3
 
    // 뮤텍스 쿼리
    err = OSMutexQuery(mid, &mutex_data);
    if (err) printf("OSMutexQuery error found, code[0x%X]\n",err);
 
 
    // 1초마다 콘솔 출력 '중지'
    USE_OSTimeTickHook = 0; // refer to 'OS_CPU_C.C'
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 2
//
void Task2(void *pdata)
{
    INT8U err;
    OS_MUTEX_DATA mutex_data;    // mutex control
    INT32U timeo;
    int i;
 
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    printf("Task2 TASK created,\n");
 
    while(1) {
        for(i=0;i<100000;i++)
        {
            if(buyTicket()==0)
            {
                T2_Ticket++;
                printf("\n[TASK2]COUNTER up to %d\n", T2_Ticket);
                /* delete other task */
                err = OSTaskDel(TASK_1_PRIO);
                goto exit;
            }
            T2_Ticket++;
        }
        timeo = randomnumber();
        OSTimeDly(timeo % 3);
    }
 
exit:
    printf("[TASK2]Total Tickets = %d\n", T1_Ticket + T2_Ticket);
 
    if(backupTickets != (T1_Ticket + T2_Ticket))
        printf("Not good. ticket size is different\n");
    else
        printf("Good!. matched\n");
 
    /* TODO #3: 태스크1 에도 같은게 또 있습니다. 작성하세요
        delete a mutex */
#if 0
 
#endif // TODO #3
 
    // 뮤텍스 쿼리
    err = OSMutexQuery(mid, &mutex_data);
    if (err) printf("OSMutexQuery error found, code[0x%X]\n",err);
 
    // 1초마다 콘솔 출력 '중지'
    USE_OSTimeTickHook = 0; // refer to 'OS_CPU_C.C'
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// buyTicket
//
int buyTicket(void)
{
    OS_CPU_SR cpu_sr;
    INT8U err;
 
    /* TODO #2: 
        MUTEX 을 이용하여 
        공유변수(tickets)를 보호한다 */
#if 1
    // CRITICAL SECTION(ENTER)
    OSMutexPend(mid,0,&err);
#endif // TODO #2
 
    tickets --;    // ticket count
 
#if 1
    // CRITICAL SECTION(EXIT)
    OSMutexPost(mid);
#endif // TODO #2
 
    return(tickets);
}
 
/*-----------------------------------------------------------------------------
 * Program : 07_MUTEX.C
-----------------------------------------------------------------------------*/
 
cs




■이벤트 플래그■

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/*******************************************************************************
**    File:
**
**        08_FLAG.c
**
**  Contents:
**        uC/OS-II programming
**
**    History:
**        Date        Name              Description
**        ------------------------------------------------------------------------
**
*******************************************************************************/
#include "includes.h"
    
/* ...........................................................................
 *
 * 태스크 스택 정의
 * ===================
 */
OS_STK TaskStartStk[TASK_STK_SIZE]; /* START task stack */
OS_STK Task1Stk[TASK_STK_SIZE]; /* Task #1 stack */
//OS_STK Task2Stk[TASK_STK_SIZE]; /* Task #2 stack */
//OS_STK Task3Stk[TASK_STK_SIZE]; /* Task #3 stack */
//OS_STK Task4Stk[TASK_STK_SIZE]; /* Task #4 stack */
 
/* ...........................................................................
 *
 * 사용자 메모리 정의
 * ===================
 */
TASK_USER_DATA  TaskUserData[7];
 
/* ...........................................................................
 *
 * 이벤트 컨트롤 & 사용자 정의 블럭 정의
 * ===================
 */
#define ENGINE_OIL_PRES_OK 0x01 
#define ENGINE_OIL_TEMP_OK 0x02 
#define ENGINE_START 0x04 
 
OS_FLAG_GRP *group_id; 
 
/* ...........................................................................
 *
 * 태스크 함수 원형
 * ===================
 */
void  TaskStart(void *pdata); /* Function prototypes of Startup task */
void  Task1(void *pdata);
void  Task2(void *pdata);          
void  Task3(void *pdata);
void  Task4(void *pdata);
 
//
// 어플리케이션 메인 루틴
//
int main(void)
{
    OSInit(); /* microC/OS-II 초기화 */
 
    strcpy(TaskUserData[TASK_START_ID].TaskName, "TaskStart");
    
    // TASK CREATE
    OSTaskCreateExt(TaskStart,
                   (void *)0,
                   &TaskStartStk[TASK_STK_SIZE-1],
                   TASK_START_PRIO,
                   TASK_START_ID,
                   &TaskStartStk[0],
                   TASK_STK_SIZE,
                   &TaskUserData[TASK_START_ID],
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
 
    OSStart(); /* start scheduler */
 
    return 0;    
}
 
//
// 태스크 'START'
//
void  TaskStart (void *pdata)
{
    INT8U err;
    OS_FLAGS flag_value;
    OS_FLAG_GRP *pgrp; // event flag group
    
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    // 시스템 초기화(UART, LCD, TimeTick)
    InitSystem();    
 
    OSStatInit();                /* Initialize uC/OS-II's 통계 함수 */
 
    /* TODO #1: 
        create a event flag
        use group_id and initial value= 0*/
#if 1
    group_id=OSFlagCreate(-1,&err);
    if (err) printf("OSFlagQuery error found, code[0x%X]\n",err);
#endif // TODO #1
 
    // 뮤텍스 쿼리
    flag_value = OSFlagQuery(group_id, &err);
    if (err) printf("OSFlagQuery error found, code[0x%X]\n",err);
 
    strcpy(TaskUserData[TASK_1_ID].TaskName, "task1");
 
    // TASK CREATE
    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);
    if (err) printf("OSTaskCreateExt error found, code[0x%X]\n",err);
 
    for(;;) {
    /* TODO #2:
        get flag 'ENGINE_OIL_PRES_OK' OR 'ENGINE_OIL_TEMP_OK' from TASK2 */
#if 1
        OSFlagPend(group_id,ENGINE_OIL_PRES_OK + ENGINE_OIL_TEMP_OK, OS_FLAG_WAIT_SET_ANY + OS_FLAG_CONSUME,0,&err);
 
#endif // TODO #2
 
        printf("."); fflush(stdout);
    }
 
    // 이벤트 플래그 삭제
    pgrp = OSFlagDel(group_id, OS_DEL_ALWAYS, &err); 
    if (pgrp == (OS_FLAG_GRP *)0) { 
    /* The event flag group was deleted */ 
    } 
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 1
//
void Task1(void *pdata)
{
    INT8U err;
      
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    printf("\n\nTask1 created,\n");
 
    for(;;) {
    /* TODO #2: 
        post flag 'ENGINE_OIL_PRES_OK' to TASK1 */
#if 1
        OSFlagPost(group_id,ENGINE_OIL_PRES_OK,OS_FLAG_SET,&err);
#endif // TODO #2
 
        OSTimeDly(100);
    }
}
 
/*-----------------------------------------------------------------------------
 * Program : 08_FLAG.C
-----------------------------------------------------------------------------*/
 
cs





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/*******************************************************************************
**    File:
**
**        10_QUE.c
**
**  Contents:
**        uC/OS-II programming
**
**    History:
**        Date        Name              Description
**        ------------------------------------------------------------------------
**
*******************************************************************************/
#include "includes.h"
    
/* ...........................................................................
 *
 * 태스크 스택 정의
 * ===================
 */
OS_STK TaskStartStk[TASK_STK_SIZE]; /* START task stack */
OS_STK Task1Stk[TASK_STK_SIZE]; /* Task #1 stack */
OS_STK Task2Stk[TASK_STK_SIZE]; /* Task #2 stack */
//OS_STK Task3Stk[TASK_STK_SIZE]; /* Task #3 stack */
//OS_STK Task4Stk[TASK_STK_SIZE]; /* Task #4 stack */
 
/* ...........................................................................
 *
 * 사용자 메모리 정의
 * ===================
 */
TASK_USER_DATA  TaskUserData[7];
 
/* ...........................................................................
 *
 * 이벤트 컨트롤 & 사용자 정의 블럭 정의
 * ===================
 */
OS_EVENT *qid;    /* Message Queue Pointer */
void *qBuffer[10];
 
extern INT32U USE_OSTimeTickHook;
 
/* ...........................................................................
 *
 * 태스크 함수 원형
 * ===================
 */
void  TaskStart(void *pdata); /* Function prototypes of Startup task */
void  qpend(void *pdata);
void  qpost(void *pdata);          
void  Task3(void *pdata);
void  Task4(void *pdata);
 
//
// 어플리케이션 메인 루틴
//
int main(void)
{
    OSInit(); /* microC/OS-II 초기화 */
 
    strcpy(TaskUserData[TASK_START_ID].TaskName, "TaskStart");
    
    // TASK CREATE
    OSTaskCreateExt(TaskStart,
                   (void *)0,
                   &TaskStartStk[TASK_STK_SIZE-1],
                   TASK_START_PRIO,
                   TASK_START_ID,
                   &TaskStartStk[0],
                   TASK_STK_SIZE,
                   &TaskUserData[TASK_START_ID],
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
 
    OSStart(); /* start scheduler */
 
    return 0;    
}
 
//
// 태스크 'START'
//
void  TaskStart (void *pdata)
{
    void qpend(void *pdata), qpost(void *pdata);
//    long timeout= 200L;            /* Wait Forever */
    INT8U err;
    char *msg;
    OS_Q_DATA qdata;
    
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    USE_OSTimeTickHook = 0;
    
    // 시스템 초기화(UART, LCD, TimeTick)
    InitSystem();    
 
    OSStatInit();                /* Initialize uC/OS-II's 통계 함수 */
 
    /* TODO #1: 
        create a Queue
        use qid and qBuffer[] */
#if 1
    qid = OSQCreate(qBuffer,10);
#endif // TODO #1
 
    // 큐(QUEUE) 쿼리 
    err = OSQQuery(qid, &qdata);
    if (err) printf("OSQQuery error found, code[0x%X]\n",err);
 
    strcpy(TaskUserData[TASK_1_ID].TaskName, "qpend");
 
    // TASK CREATE
    OSTaskCreateExt(qpend,
                    (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, "qpost");
 
    // TASK CREATE
    OSTaskCreateExt(qpost,
                    (void *)0,
                    &Task2Stk[TASK_STK_SIZE - 1],
                    TASK_2_PRIO,
                    TASK_2_ID,
                    &Task2Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_2_ID],
                    0);
 
    OSTimeDly(500);
 
    /* TODO #2: 
        broadcast a message to all TASKs
        message : "Do you hear me?[john said]" */
#if 1
    OSQPostOpt(qid,"Do you hear me?[john said]",OS_POST_OPT_BROADCAST);
#endif // TODO #2
 
    printf("\n.\n.\n.\n.\non AIR...\n.\n.\n.\n.\n");
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 'qpend'
//
void qpend(void *pdata)
{
    INT8U err;
    char *p;
    long timeout= 200L;            /* for ever */
    
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    printf("[qpend]waiting...\n");
 
    // 메시지 큐 '브로드캐스트' 대기
    p = OSQPend(qid, 0, &err); /* Wake up By Queue Broadcast */
    if (err) printf("OSQPend error found, code[%d]\n",err);
    printf("[qpend]sync %s\n",p);
 
    for(;;) {
        // 메시지 큐 대기
        p = OSQPend(qid, timeout, &err);
        if (err)
            printf("OSQPend error found, code[0x%X]\n",err);
        else
            printf("get message \"%d\" from TASK qpost\n",*p);
    }
}
 
//
// 태스크 'qpost'
//
void qpost(void *pdata)
{
    INT8U err;
    char *p;
    char msg[80];
    int i;
 
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    printf("[qpost]waiting...\n");
 
    // 메시지 큐 '브로드캐스트' 대기
    p = OSQPend(qid, 0, &err); /* Wake up By Queue Broadcast */
    if (err) printf("OSQPend error found, code[%d]\n",err);
    printf("[qpost]sync %s\n",p);
 
    for(i=1; i< 10000; i++) {
        msg[0] = i; msg[1]= NULL;
 
    /* TODO #3: 
        post a message to TASK qpend
        use msg[] */
#if 1
        OSQPost(qid,msg);
#endif // TODO #3
 
        OSTimeDly(100);
    }
}
 
/*-----------------------------------------------------------------------------
 * Program : 10_QUE.C
-----------------------------------------------------------------------------*/
 
cs





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[RTOS_Day3]통계 테스크  (0) 2018.12.19
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■포팅_2■


RTOS는 타이머 인터럽트가 꼭있어야하기 때문에 미리 만들어 놓으면 좋다.


$ pwd

03.ucos2-timer


$ cp timer.c /home/mds/FreeRTOSv10.1.1/FreeRTOS/Source/portable/GCC/ARM7_AT91FR40008/



1.

makefile 수정

THUMB_SRC = 

../../Source/portable/GCC/ARM7_AT91FR40008/timer.c    추가


컴파일 해보기




2. ucon 예제3번 timer.c 참고하여


port.c에 수정


#include "2450addr.h"

#include "option.h"

#include "my_lib.h"


extern unsigned int HandleTIMER0;


#else

//MDS2450's TIMER

/* 

* Timer0 Init 

* Prescaler value : 255, dead zone length = 0

* Divider value : 1/16, no DMA mode

* New frequency : (PCLK/(Prescaler value+1))*Divider value = (66Mhz/(256))*(1/16)

* = 16.113Khz(16113Hz)

*/

rTCFG0 = (0<<8)|(0xff); 

rTCFG1 = (0<<20)|(3); 

/* TCON¼³Á¤ :Dead zone disable,  auto reload on, output inverter off

*  manual update no operation, timer0 stop, TCNTB0=0, TCMPB0 =0

*/

rTCON  = (0<<4)|(1<<3)|(0<<2)|(0<<1)|(0);

rTCNTB0 = 0;

rTCMPB0 = 0;



#if configUSE_PREEMPTION == 1

{

extern void ( vPreemptiveTick )( void );

HandleTIMER0 = (unsigned int)vPreemptiveTick; //register a interrupt vector for timer0

    /* Interrupt Unmasking */

      rINTMSK1 &= ~(1<<10);

}

#else  // else use cooperative scheduler

{

extern void ( vNonPreemptiveTick )( void );

HandleTIMER0 = (unsigned int)vNonPreemptiveTick; //register a interrupt vector for timer0

    /* Interrupt Unmasking */

      rINTMSK1 &= ~(1<<10);

}

#endif


rTCNTB0 = 16113/configTICK_RATE_HZ; //MCU의 16.113*msec를 RTOS에서 비슷하게

rTCON |= (1<<1)|(0);

rTCON &= ~(1<<1);

rTCON |= 1;


#endif


3.

../../Source/portable/GCC/ARM7_AT91FR40008/timer.c    제거



4.

/*    flash.c-Minimal    */


#define ledNUMBER_OF_LEDS ( 1 )         ->    수정


void vStartLEDFlashTasks( UBaseType_t uxPriority )

{

BaseType_t xLEDTask;


/* Create the three tasks. */

for( xLEDTask = 0; xLEDTask < ledNUMBER_OF_LEDS; ++xLEDTask )

{

printf("vStartLEDFlashTasks\n");

/* Spawn the task. */

xTaskCreate( vLEDFlashTask, "LEDx", ledSTACK_SIZE, NULL, uxPriority, ( TaskHandle_t * ) NULL );

}

}

/*    flash.c-Minimal    */

static void vLEDFlashTask( void *pvParameters )

{

xLEDParameters *pxParameters;


/* Queue a message for printing to say the task has started. */

vPrintDisplayMessage( &pcTaskStartMsg );


pxParameters = ( xLEDParameters * ) pvParameters;


for(;;)

{

printf("togle@\n");

/* Delay for half the flash period then turn the LED on. */

vTaskDelay( pxParameters->xFlashRate / ( TickType_t ) 2 );

vParTestToggleLED( pxParameters->uxLED );


/* Delay for half the flash period then turn the LED off. */

vTaskDelay( pxParameters->xFlashRate / ( TickType_t ) 2 );

vParTestToggleLED( pxParameters->uxLED );

}

}



5.

필요없는 소스 삭제


$ pwd

/home/mds/FreeRTOSv10.1.1/FreeRTOS/Source/portable


rm -rf !(Common|GCC|MemMang|ThirdParty|Tasking)


$ pwd

/home/mds/FreeRTOSv10.1.1/FreeRTOS/Source/portable/GCC


rm -r !(ARM7_AT91FR40008)


6.
검색 shift + Ctrl + F 
[\t\s]+swi[\t\s]
boot.s 보기


/*    exception.c    */
void vPortYieldProcessor(void);

HandleSWI    = (unsigned)vPortYieldProcessor;


로 수정



7.

/*   portISR    */ 


#if configUSE_PREEMPTION == 0


/* The cooperative scheduler requires a normal IRQ service routine to 

simply increment the system tick. */

void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ")));

void vNonPreemptiveTick( void )

{

static volatile uint32_t ulDummy;


/* Clear tick timer interrupt indication. */

//ulDummy = portTIMER_REG_BASE_PTR->TC_SR;  


xTaskIncrementTick();

       /* TODO : Pending Register Clear */

        rSRCPND1 = (1<<10);

        rINTPND1 = (1<<10);


  //      tick++;


/* Acknowledge the interrupt at AIC level... */

//AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;

}


#else  /* else preemption is turned on */


/* The preemptive scheduler is defined as "naked" as the full context is

saved on entry as part of the context switch. */

void vPreemptiveTick( void ) __attribute__((naked));

void vPreemptiveTick( void )

{

/* Save the context of the interrupted task. */

portSAVE_CONTEXT();


/* WARNING - Do not use local (stack) variables here.  Use globals

if you must! */

static volatile uint32_t ulDummy;


/* Clear tick timer interrupt indication. */

// ulDummy = portTIMER_REG_BASE_PTR->TC_SR;  


/* Increment the RTOS tick count, then look for the highest priority 

task that is ready to run. */

if( xTaskIncrementTick() != pdFALSE )

{

vTaskSwitchContext();

}


/* Acknowledge the interrupt at AIC level... */

//AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;

       /* TODO : Pending Register Clear */

        rSRCPND1 = (1<<10);

        rINTPND1 = (1<<10);


   //     tick++;


/* Restore the context of the new task. */

portRESTORE_CONTEXT();

}


로 수정해서 컴파일하면 LED 깜빡이는 것을 볼 수 있습니다.




<    포팅의 유형    >


1. CS8900 이더넷 컨트롤러를 DM9000 칩으로 변경


2. 블루투스 지원을 하기 위한 소프트웨어를 찾고 이를 이식


3. 커널을 업그레이드


4. 오픈소스(VLC)을 포팅


5. 커널을 커스텀 보드에 이식








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■포팅■


먼저 사이트에 들어가서 자료를 받습니다.


임베디드 포팅에서는 길을 선택하는것과 같다. 

한번 선택한 길이 꼬이면 처음부터 다시시작하는 마음가짐으로 시작한다.



$ pwd

/home/mds/FreeRTOSv10.1.1


$ tree -L 2

.

├── FreeRTOS

│   ├── Demo

│   ├── License

│   ├── links_to_doc_pages_for_the_demo_projects.url

│   ├── readme.txt

│   └── Source

├── FreeRTOS-Plus

│   ├── Demo

│   ├── readme.txt

│   └── Source

├── New - FreeRTOS+TCP.url

├── New - Stream and Message Buffers.url

├── Quick_Start_Guide.url

├── readme.txt

├── Upgrading-to-FreeRTOS-10.url

└── Upgrading-to-FreeRTOS-9.url


7 directories, 9 files


$ cd FreeRTOS/Demo

$ tree -L 2                ==>파일들 확인



여기서 컴파일을 선택해야하는데 이때 소스를 열어본다(makefile) 선택기준 ->>어떻게 해야 빨리 끝날까?

최대한 분석안하고 빨리 끝내는 것이 중요!




$cd ARM7_AT91FR40008_GCC

$make


arm-elf-gcc -c -Wall -Wextra -D  -D GCC_AT91FR40008 -I. -I../../Source/include -I../Common/include  -mcpu=arm7tdmi -T -Wcast-align  -fomit-frame-pointer -fno-strict-aliasing -fno-dwarf2-cfi-asm ../../Source/portable/GCC/ARM7_AT91FR40008/portISR.c -o ../../Source/portable/GCC/ARM7_AT91FR40008/portISR.o

make: execvp: arm-elf-gcc: Not a directory

make: *** [../../Source/portable/GCC/ARM7_AT91FR40008/portISR.o] Error 127


우선  make 해본다


makefile안에


CC=arm-none-eabi-gcc

OBJCOPY=arm-none-eabi-objcopy

ARCH=arm-none-eabi-ar

로 수정




$ make

arm-none-eabi-gcc -c -Wall -Wextra -D  -D GCC_AT91FR40008 -I. -I../../Source/include -I../Common/include  -mcpu=arm7tdmi -T -Wcast-align  -fomit-frame-pointer -fno-strict-aliasing -fno-dwarf2-cfi-asm ../../Source/portable/GCC/ARM7_AT91FR40008/portISR.c -o ../../Source/portable/GCC/ARM7_AT91FR40008/portISR.o

arm-none-eabi-gcc: GCC_AT91FR40008: No such file or directory

<command-line>:0:1: error: macro names must be identifiers

In file included from ../../Source/include/FreeRTOS.h:62:0,

                 from ../../Source/portable/GCC/ARM7_AT91FR40008/portISR.c:44:

../../Source/include/portable.h:52:24: fatal error: portmacro.h: No such file or directory

compilation terminated.

make: *** [../../Source/portable/GCC/ARM7_AT91FR40008/portISR.o] Error 1



$ grep -rni GCC_AT91FR40008 .

./Makefile:36:CFLAGS=-Wall -Wextra -D $(RUN_MODE) -D GCC_AT91FR40008 -I. -I../../Source/include 



******옵션을주어서 make를 스크립트로 되어있다.


$ chmod +x ram_arm.bat 

$ ./ram_arm.bat 

: command not found 6: make



ram_arm.bat을 수정 (set없애고 한줄로 )

USE_THUMB_MODE=NO DEBUG=-g OPTIM=-O0 RUN_MODE=RUN_FROM_RAM LDSCRIPT=atmel-ram.ld make


$ ./ram_arm.bat 
컴파일이 된다.



$ date +"%y%m%d%H%M"
1812261019
$ mkdir ~/backup

$ date=$(date +"%y%m%d%H%M");tar zcf ~/backup/backup_FreeRTOS_${date}.tar.gz ~/FreeRTOSv10.1.1/FreeRTOS


$ echo alias b='date=$(date +"%y%m%d%H%M");tar zcf ~/backup/backup_FreeRTOS_${date}.tar.gz ~/FreeRTOSv10.1.1/FreeRTOS' >> ~/.bachrc

편하게 alias 등록


$ vim HISTORY
- ARM7_AT91FR40008_GCC compile ok

기록을 남긴다.

$b


$ ll ~/backup/

-rw-r--r--  1 mds adm 14893056 2018-12-26 10:22 backup_FreeRTOS_1812261022.tar.gz
백업



$ cd ucos2/

$ subl .
$ make


Main.o exception.o libc.o Uart.o syscall.o s3c2450_startup.o libs.o
(필수)                                              (필수:부트코드)
여기에 있는 파일들을 옮긴다. 같은이름이 있는지 주의(최소한의 파일만 가져온다.)
(tip. 복사하지 않고 이동시키면 남아있는 파일 보이가 수월)

~/FreeRTOSv10.1.1/FreeRTOS/Demo/ARM7_AT91FR40008_GCC# subl ../../

1. ARM7_AT91FR40008_GCC에서 main.c를 main_org.c로 이름바꾸고 Main.c를 복사해서 넣는다.

2. ARM7_AT91FR40008_GCC으로 s3c2450_startup.S복사해서 넣는다.
makefile 수정
CRT0=s3c2450_startup.S   으로

3. main_org.c를 다시 main.c로 바꾼다.

4. make

5. ARM7_AT91FR40008_GCC으로 2450addr.inc

6. makefile 수정
THUMB_SRC = \
exception.c \
libc.c \
Uart.c \
syscall.c \
libs.S \
main.c \

7.후 에러나는 파일들을 하나씩 가져온다.

8. makefile에서 libs.S \를 지우고

9. ARM7_AT91FR40008_GCC으로 S3C2450-RAM.ld복사후 원래 atmel-ram.ld와 
CRT0=s3c2450_startup.S libs.S 수정
추가

10.ram_arm.bat을 수정

USE_THUMB_MODE=NO DEBUG=-g OPTIM=-O0 RUN_MODE=RUN_FROM_RAM LDSCRIPT=S3C2450-RAM.ld make


11.make clean; ./ram_arm.bat 2>&1 | tee log

log파일로 저장후 검색해서 사용  libs가 .o로 되어있어야한다.


12. 

s3c2450_startup.S:207: Error: garbage following instruction -- `sub sp,sp,#4//reserved for PC'
오류

        sub     sp,sp,#4       //reserved for PC에서

  //reserved for PC를 지운다.


13. 메뉴에 find -> replace

정규식 표현 사용

Find : //(.+)

Replace :/* \1 */

모두 바꿔준다.


14.

CRT0_SRC=s3c2450_startup.S libs.S    수정


CRT0_OBJ=$(CRT0_SRC:.S=.o)    추가


rtosdemo.elf : $(ARM_OBJ) $(THUMB_OBJ) $(CRT0_OBJ) Makefile

$(CC) $(CFLAGS) $(ARM_OBJ) $(THUMB_OBJ) -nostartfiles $(CRT0_OBJ) $(LINKER_FLAGS)    수정


$(CRT0_OBJ) : %.o : %.S $(LDSCRIPT) Makefile

$(CC) -c $(CFLAGS) $< -o $@                추가



15. Main과 main를 바꿔준다.


# make clean ; ./ram_arm.bat 

잘된다.


16. 
OCFLAGS = -O binary -R .note -R .comment -S

$(OBJCOPY) $(OCFLAGS) $(TOPDIR)/MDS2450 $(TOPDIR)/$@
cp $(TOPDIR)/$@ /tftpboot
예제 이부분을 가져와서 makefile에 넣는다.



17. rtosdemo    ->    MDS2450 로 모두 바꾼다.





최종 수정후  makefile 


#/*

# * FreeRTOS Kernel V10.1.1

# * Copyright (C) 2018 Amazon.com, Inc. or its affiliates.  All Rights Reserved.

# *

# * Permission is hereby granted, free of charge, to any person obtaining a copy of

# * this software and associated documentation files (the "Software"), to deal in

# * the Software without restriction, including without limitation the rights to

# * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of

# * the Software, and to permit persons to whom the Software is furnished to do so,

# * subject to the following conditions:

# *

# * The above copyright notice and this permission notice shall be included in all

# * copies or substantial portions of the Software.

# *

# * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

# * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS

# * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR

# * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER

# * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN

# * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

# *

# * http://www.FreeRTOS.org

# * http://aws.amazon.com/freertos

# *

# * 1 tab == 4 spaces!

# */


CC=arm-none-eabi-gcc

OBJCOPY=arm-none-eabi-objcopy

ARCH=arm-none-eabi-ar

CRT0_SRC=s3c2450_startup.S libs.S

#

# CFLAGS common to both the THUMB and ARM mode builds

#

CFLAGS=-Wall -Wextra -D $(RUN_MODE) -D GCC_AT91FR40008 -I. -I../../Source/include \

-I../Common/include $(DEBUG) -mcpu=arm9e -T$(LDSCRIPT) \

-Wcast-align $(OPTIM) -fomit-frame-pointer -fno-strict-aliasing \

-fno-dwarf2-cfi-asm


ifeq ($(USE_THUMB_MODE),YES)

CFLAGS += -mthumb-interwork -D THUMB_INTERWORK

THUMB_FLAGS=-mthumb

endif



LINKER_FLAGS=-o MDS2450 -Xlinker -M -Xlinker -Map=MDS2450.map


#

# Source files that can be built to THUMB mode.

#

THUMB_SRC = \

exception.c \

libc.c \

Uart.c \

syscall.c \

main.c \

serial/serial.c \

ParTest/ParTest.c \

../Common/Minimal/integer.c \

../Common/Minimal/flash.c \

../Common/Minimal/PollQ.c \

../Common/Minimal/comtest.c \

../Common/Minimal/flop.c \

../Common/Minimal/semtest.c \

../Common/Minimal/dynamic.c \

../Common/Minimal/BlockQ.c \

../../Source/tasks.c \

../../Source/queue.c \

../../Source/list.c \

../../Source/portable/MemMang/heap_2.c \

../../Source/portable/GCC/ARM7_AT91FR40008/port.c


#

# Source files that must be built to ARM mode.

#

ARM_SRC = \

../../Source/portable/GCC/ARM7_AT91FR40008/portISR.c \

serial/serialISR.c


#

# Define all object files.

#

ARM_OBJ = $(ARM_SRC:.c=.o)

THUMB_OBJ = $(THUMB_SRC:.c=.o)

CRT0_OBJ=$(CRT0_SRC:.S=.o)

OCFLAGS = -O binary -R .note -R .comment -S


MDS2450.bin : $(ARM_OBJ) $(THUMB_OBJ) $(CRT0_OBJ) Makefile

$(CC) $(CFLAGS) $(ARM_OBJ) $(THUMB_OBJ) -nostartfiles $(CRT0_OBJ) $(LINKER_FLAGS)


$(OBJCOPY) MDS2450 -O binary $@

cp $@ /tftpboot


$(THUMB_OBJ) : %.o : %.c $(LDSCRIPT) Makefile

$(CC) -c $(THUMB_FLAGS) $(CFLAGS) $< -o $@


$(ARM_OBJ) : %.o : %.c $(LDSCRIPT) Makefile

$(CC) -c $(CFLAGS) $< -o $@


$(CRT0_OBJ) : %.o : %.S $(LDSCRIPT) Makefile

$(CC) -c $(CFLAGS) $< -o $@


clean :

touch Makefile

rm $(ARM_OBJ)

rm $(THUMB_OBJ)






이제 디버깅을 시작한다.


필요없는 코드는 주석처리하고 막히는 구간에는 찾아가면서 부팅이 원활하게 되도록 하는 것이다.


디버깅은 led와 시리얼(UART)을 사용한다.


그리고, 예외처리 오류 출력을 잘 활용하자.


예) UART를 활용

Uart_Printf("<TRACE100>\n");

BaseType_t xReturn;


/* Add the idle task at the lowest priority. */

#if( configSUPPORT_STATIC_ALLOCATION == 1 )

{

Uart_Printf("<TRACE101>\n");

StaticTask_t *pxIdleTaskTCBBuffer = NULL;

StackType_t *pxIdleTaskStackBuffer = NULL;

uint32_t ulIdleTaskStackSize;

Uart_Printf("<TRACE102>\n");




<<<    현재 진행중 상황    >>


# cat HISTORY 


- ARM7_AT91FR40008_GCC compile ok


- boot ok, led ok


- printf ok 


- problem in prvSetupTimerInterrupt(port.c)



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■통계 테스크■



*makefile 옵션 수정




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#include "../../include/includes.h"
//#include "ui.h"
 
// filename
char* filename = "04_STAT";
 
#define          MSG_QUEUE_SIZE     20                /* Size of message queue used in example         */
 
/* ...........................................................................
 *
 * 태스크 스택 정의
 * ===================
 */
OS_STK           TaskStartStk[TASK_STK_SIZE];         /* Startup    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                         */
 
/* ...........................................................................
 *
 * 사용자 메모리 정의
 * ===================
 */
TASK_USER_DATA  TaskUserData[7];
 
/* ...........................................................................
 *
 * 이벤트 컨트롤 & 사용자 정의 블럭 정의
 * ===================
 */
OS_EVENT        *MsgQueue;                            /* Message queue pointer                         */
void            *MsgQueueTbl[20];                     /* Storage for messages                          */
// 1초마다 콘솔에 동작중을 표시(.)
extern INT32U USE_OSTimeTickHook;
 
/* ...........................................................................
 *
 * 태스크 함수 원형
 * ===================
 */
void             TaskStart(void *data);               /* Function prototypes of tasks                  */
void             TaskStartCreateTasks(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);
 
//
// 어플리케이션 메인 루틴
//
int main (void)
{
    OSInit(); /* microC/OS-II 초기화 */
 
    PC_ElapsedInit(); /* Initialized elapsed time measurement     */
 
    strcpy(TaskUserData[TASK_START_ID].TaskName, "Start");
    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();    //우선순위 0번                                  /* Start multitasking                       */
}
 
//
// 태스크 'START'
//
void  TaskStart (void *data)
{
    INT8U err;
 
    data = data;                                           /* Prevent compiler warning                 */
 
    // 시스템 초기화(UART, LCD, TimeTick)
    InitSystem();    
 
    // Task Statistics Title Display
    TaskStatisticsTitleDisplay(filename);
 
    OSStatInit();
 
    // 1초마다 콘솔에 동작중을 표시(.)
    USE_OSTimeTickHook = 1; // refer to 'OS_CPU_C.C'
 
    MsgQueue = OSQCreate(&MsgQueueTbl[0], MSG_QUEUE_SIZE); /* Create a message queue                   */
 
    TaskStartCreateTasks();
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 'TaskStartCreateTasks'
//
void  TaskStartCreateTasks (void)
{
    strcpy(TaskUserData[TASK_1_ID].TaskName, "MsgQ Tx");
    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 Rx#1");
    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 Rx#2");
    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, "MboxPostPend");
    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, "TimeDly");
    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);
}
 
//
// 태스크 'Task1'
//
void  Task1 (void *data)
{
    char one   = '1';
    char two   = '2';
    char three = '3';
 
    data = data;
    for (;;) {
        OSQPost(MsgQueue, (void *)&one);
        OSTimeDlyHMSM(0, 0, 1,   0);        /* Delay for 1 second                                      */
        OSQPost(MsgQueue, (void *)&two);
        OSTimeDlyHMSM(0, 0, 0, 500);        /* Delay for 500 mS                                        */
        OSQPost(MsgQueue, (void *)&three);
        OSTimeDlyHMSM(0, 0, 1,   0);        /* Delay for 1 second                                      */
    }
}
 
//
// 태스크 'Task2'
// Description: This task waits for messages sent by task #1.
//
void  Task2 (void *data)
{
    char *msg;
    INT8U  err;
 
    data = data;
    for (;;) {
        msg = (char *)OSQPend(MsgQueue, 0, &err);    /* Wait forever for message                      */
        PC_DispChar(14, 9, *msg, (INT8U)YELLOW);
        OSTimeDlyHMSM(0, 0, 0, 500);                  /* Delay for 500 mS                              */
    }
}
 
//
// 태스크 'Task3'
// Description: This task waits for up to 250 mS for a message sent by task #1.
//
void  Task3 (void *data)
{
    INT8U *msg;
    INT8U  err;
 
    data = data;
    for (;;) {
        msg = (INT8U *)OSQPend(MsgQueue, OS_TICKS_PER_SEC / 4, &err);  /* Wait up to 250 mS for a msg  */
        if (err == OS_TIMEOUT) {
            PC_DispChar(14, 9, 'T',  BLUE);
        } else {
            PC_DispChar(14, 9, *msg, BLUE);
        }
    }
}
 
//
// 태스크 'Task4'
// Description: This task posts a message to a mailbox and then immediately reads the message.
//
void  Task4 (void *data)
{
    OS_EVENT *mbox;
    INT8U     err;
 
    data = data;
    mbox = OSMboxCreate((void *)0);
    for (;;) {
        OSMboxPost(mbox, (void *)1);             /* Send message to mailbox                            */
        OSMboxPend(mbox, 0, &err);               /* Get message from mailbox                           */
        OSTimeDlyHMSM(0, 0, 0, 10);              /* Delay 10 mS                                        */
    }
}
 
//
// 태스크 'Task5'
// Description: This task simply delays itself.  We basically want to determine how long OSTimeDly() takes
//              to execute
//
void  Task5 (void *data)
{
    data = data;
    for (;;) {
        OSTimeDly(1);
    }
}
 
/*-----------------------------------------------------------------------------
 * Program : 04_STAT.C
-----------------------------------------------------------------------------*/
 
cs




＊IDLE 테스크 관련 함수


특징 : 1. 우선순위가 가장 낮다.    =>63

2. 삭제 절대로 되지 않는다.

3. 우선순위 변경 불가능.

4. 하는 일이 없다.    =>void  OS_TaskIdle (void *p_arg)

5. 절대로 휴면 하지 않는다.

즉, 이러한 특징을 이용하여 어떠한 task가 실행되고 있는지 Idle task를 확인하여 측정할 수 있습니다.

밑 소스를 보면 Led를 통해서 어떠한 task가 수행되면 계속해서 빠르게 실행되어 Led의 불이 계속 들어오는 것을 알 수 있고 끝나면 깜빡거리는 것을 알 수 있습니다.


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void  OS_TaskIdle (void *p_arg)
{
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */
    OS_CPU_SR  cpu_sr = 0;
#endif
 
 
 
    (void)p_arg;                                 /* Prevent compiler warning for not using 'parg'      */
    for (;;) {
        OS_ENTER_CRITICAL();
        OSIdleCtr++;
        OS_EXIT_CRITICAL();
        OSTaskIdleHook();                        /* Call user definable HOOK                           */
    }
}
 
 
#if OS_CPU_HOOKS_EN > 0 && OS_VERSION >= 251
void  OSTaskIdleHook (void)
{
        Led_Display(0);  
//        CPU goes to sleep(LOW POWER)// wjwjsfurahemeh rksmd
}
#endif
 
 
 
 
 
#if (OS_CPU_HOOKS_EN > 0) && (OS_TASK_SW_HOOK_EN > 0)
void  OSTaskSwHook (void)
{
    INT16U          time;
    TASK_USER_DATA *puser;
 
    Led_Display(15);
 
    time  = PC_ElapsedStop();                    /* This task is done                                  */
    PC_ElapsedStart();                           /* Start for next task                                */
 
    /* TODO #1: 
        EXAMPLE "04_STAT.C" 실습 예제
        태스크 사용자 자료 구조(TASK_USER_DATA) 업데이트
        use 'OSTCBCur' : 5 line */
#if 1
    puser = OSTCBCur->OSTCBExtPtr;               /* Point to used data                                 */
    if (puser != (void *)0) {
        puser->TaskID = OSTCBCur->OSTCBId;         /* Task ID */
        puser->TaskCtr++;                        /* Increment task counter                             */
        puser->TaskExecTime     = time;          /* Update the task's execution time                   */
        puser->TaskTotExecTime += time;          /* Update the task's total execution time             */
    }
#endif // TODO #1
}
#endif
cs


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[RTOS_Day1]테스크 생성 및 운용  (0) 2018.12.17



■임계영역 보호■


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#include "includes.h"
 
 
int tickets;        // MAX value( 1000 million )
int backupTickets;
int T1_Ticket=0, T2_Ticket= 0;
 
/* ...........................................................................
 *
 * 태스크 스택 정의
 * ===================
 */
OS_STK TaskStartStk[TASK_STK_SIZE]; /* START task stack */
OS_STK Task1Stk[TASK_STK_SIZE]; /* Task #1 stack */
OS_STK Task2Stk[TASK_STK_SIZE]; /* Task #2 stack */
//OS_STK Task3Stk[TASK_STK_SIZE]; /* Task #3 stack */
//OS_STK Task4Stk[TASK_STK_SIZE]; /* Task #4 stack */
 
/* ...........................................................................
 *
 * 사용자 메모리 정의
 * ===================
 */
TASK_USER_DATA  TaskUserData[7];
 
/* ...........................................................................
 *
 * 이벤트 컨트롤 & 사용자 정의 블럭 정의
 * ===================
 */
#define TICKET_1BILLION        1000000000
#define TICKET_1MILLION        1000000
#define TICKET_10000        10000
#define TICKET_1000            1000
 
extern void seedrand(int seed);
extern int randomnumber(void);
int buyTicket(void);
 
// 1초마다 콘솔에 동작중을 표시(.)
extern INT32U USE_OSTimeTickHook;
 
/* ...........................................................................
 *
 * 태스크 함수 원형
 * ===================
 */
void  TaskStart(void *pdata); /* Function prototypes of Startup task */
void  Task1(void *pdata);
void  Task2(void *pdata);        
void  Task3(void *pdata);
void  Task4(void *pdata);
 
//
// 어플리케이션 메인 루틴
//
int main(void)
{
    OSInit(); /* microC/OS-II 초기화 */
 
    PC_ElapsedInit(); /* Initialized elapsed time measurement     */
 
    strcpy(TaskUserData[TASK_START_ID].TaskName, "TaskStart");
    
    // TASK CREATE
    OSTaskCreateExt(TaskStart,
                   (void *)0,
                   &TaskStartStk[TASK_STK_SIZE-1],
                   TASK_START_PRIO,
                   TASK_START_ID,
                   &TaskStartStk[0],
                   TASK_STK_SIZE,
                   &TaskUserData[TASK_START_ID],
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
 
    OSStart(); /* start scheduler */
 
    return 0;    
}
 
//
// 태스크 'START'
//
void  TaskStart (void *pdata)
{
    INT8U err;
    
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    // 시스템 초기화(UART, LCD, TimeTick)
    InitSystem();    
 
    OSStatInit();                /* Initialize uC/OS-II's 통계 함수 */
 
    //
    // set random seed
    //
    seedrand( 45 );
    
    //
    // Set Tickets
    //
    /* TODO #2: 
        초기 티켓수를 작은수(10,000 ~ 100,000정도) 입력 하여 테스트 한후 
        그 결과를 설명한다 */
#if 1 // No comment
    //tickets= backupTickets = 10 * TICKET_10000; // MAX value( 1 million )
    tickets= backupTickets = 10 * TICKET_1MILLION; // MAX value( 1 million )
#endif // TODO #2
 
    // TASK CREATE
    strcpy(TaskUserData[TASK_1_ID].TaskName, "Task1");
    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);
    if (err) printf("OSTaskCreate error found, code[0x%X]\n",err);
 
    // TASK CREATE
    strcpy(TaskUserData[TASK_2_ID].TaskName, "Task2");
    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);
    if (err) printf("OSTaskCreate error found, code[0x%X]\n",err);
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 1
//
void Task1(void *pdata)
{
    INT8U err;
    
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    printf("\n\nTask1 TASK created,\n");
 
    while(1) {
        if(buyTicket() <= 0)
        {
            T1_Ticket++;
//            printf("[TASK1]COUNTER up to %d\n", T1_Ticket);
            /* delete other task */
            err = OSTaskDel(TASK_2_PRIO);
            break;
        }
        T1_Ticket++;
    /* TODO #1: 
        OSTimeDly() 시간 지연을 적당히 입력하여 티켓 카운트 수가 
        오류가 나도록 만든다 */
#if 1 // No comment
        OSTimeDly(2);    // 주의사항! 2 이상의 값을 입력 할 것
#endif // TODO #1
    }
 
    // 1초마다 콘솔 출력 '중지'
    USE_OSTimeTickHook = 0; // refer to 'OS_CPU_C.C'
 
    printf("\n[TASK1]Total Tickets = %d\n", T1_Ticket + T2_Ticket);
 
    if(backupTickets != T1_Ticket + T2_Ticket)
        printf("Not good. expectation(%d)\n", backupTickets);
    else
        printf("Good!. Matched\n");
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 2
//
void Task2(void *pdata)
{
    INT8U err;
    INT32U timeo;
    int i;
 
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    printf("Task2 TASK created,\n");
 
    printf("please wait");
 
    // 1초마다 콘솔에 동작중을 표시(.)
    USE_OSTimeTickHook = 1; // refer to 'OS_CPU_C.C'
 
    while(1) {
        for(i=0;i<100000;i++)
        {
            if(buyTicket()==0)
            {
                T2_Ticket++;
//                printf("[TASK2]COUNTER up to %d\n", T2_Ticket);
                /* delete other task */
                err = OSTaskDel(TASK_1_PRIO);
                goto exit;
            }
            T2_Ticket++;
        }
        timeo = randomnumber();
        OSTimeDly(timeo % 3);
    }
 
exit:
    // 1초마다 콘솔 출력 '중지'
    USE_OSTimeTickHook = 0; // refer to 'OS_CPU_C.C'
 
    printf("\n[TASK2]Total Tickets = %d\n", T1_Ticket + T2_Ticket);
 
    if(backupTickets != T1_Ticket + T2_Ticket)
        printf("Not good. expectation(%d)\n", backupTickets);
    else
        printf("Good!. Matched\n");
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// buyTicket
//
int buyTicket(void)
{
    OS_CPU_SR cpu_sr;
 
    /* TODO #3: 
        OS_ENTER_CRITICAL() 과  OS_EXIT_CRITICAL()을 이용하여 
        공유변수(tickets)를 보호한다 */
#if 1
    // CRITICAL SECTION(ENTER)
    OS_ENTER_CRITICAL();
#endif // TODO #3
 
    tickets --;    // ticket count
 
#if 1
    // CRITICAL SECTION(EXIT)
    OS_EXIT_CRITICAL();
#endif // TODO #3
 
    return(tickets);
}
 
/*-----------------------------------------------------------------------------
 * Program : 03_CRITICAL.C
-----------------------------------------------------------------------------*/
 
cs





* TODO 1

현재 2개의 Task가 동작 중이며 task1과 task2는 다른 속도로 실행되고 있다. 

tickets= backupTickets = 10 * TICKET_1MILLION;

현재 티켓의 수로 실행하면 collision(충돌)이 생겨서 동시성 문제가 발생한다.



* TODO 2


이때 티켓의 수를 줄여보면


tickets= backupTickets = 10 * TICKET_10000;


결과를 보면 횟수가 적으면 충돌가능성도 줄어들게 된다.





* TODO 3


OS_ENTER_CRITICAL();

OS_EXIT_CRITICAL();        함수를 이용해 상호 배제를 한면 횟수가 많아도 동시에 진입하지 않습니다. 

즉, 공유 변수를 보호합니다.

그리고 CRITICAL SECTION(임계 영역) 커널 서비스를 자주 호출 하게 되면 그렇지 않을 경우보다 시간이 많이 소요됩니다.






*Critical Section(임계 영역) : 공유 자원을 사용 중인 함수내의 일부 혹은 전체 영역
이 코드의 영역의 실행이 시작되면 적어도 다른 태스크가 이영역을 선점하여 실행하는 일이 없어야 안전합니다.

상호 배제 방법 1. 인터럽트 작동을 잠금
   2. 스케줄링 중단
   3. 세마포어류의 커널서비스    ->많이 사용하는 방법
   4. 공유 자원을 사용하지 않는다(상호배제 사용 x) ->가장 이상적인 방법.

예) 전역변수를 쓰지 않는다.

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int Temp; //전역변수
 
void swap(int *x,int *y)
{
    Temp = *x;
    *x = *y;
    *y = Temp;
}

cs

    <재진입이 불가능한 경우>

  ▼

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void swap(int *x,int *y)
{
    int Temp;
    Temp = *x;
    *x = *y;
    *y = Temp;
}
cs

        <재진입이 가능한 경우>















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■시간관리 함수■


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#include "includes.h"
    
/* ...........................................................................
 *
 * 태스크 스택 정의
 * ===================
 */
OS_STK TaskStartStk[TASK_STK_SIZE]; /* START task stack */
OS_STK Task1Stk[TASK_STK_SIZE]; /* Task #1 stack */
OS_STK Task2Stk[TASK_STK_SIZE]; /* Task #2 stack */
//OS_STK Task3Stk[TASK_STK_SIZE]; /* Task #3 stack */
//OS_STK Task4Stk[TASK_STK_SIZE]; /* Task #4 stack */
 
/* ...........................................................................
 *
 * 사용자 메모리 정의
 * ===================
 */
TASK_USER_DATA  TaskUserData[7];
 
/* ...........................................................................
 *
 * 이벤트 컨트롤 & 사용자 정의 블럭 정의
 * ===================
 */
struct tm {
  int tm_msec;  /* milli seconds */
  int tm_sec;   /* seconds after the minute, 0 to 60
                   (0 - 60 allows for the occasional leap second) */
  int tm_min;   /* minutes after the hour, 0 to 59 */
  int tm_hour;  /* hours since midnight, 0 to 23 */
};
// 1초마다 콘솔에 동작중을 표시(.)
extern INT32U USE_OSTimeTickHook;
 
void OSTimeDlyCustom( struct tm *t );
 
/* ...........................................................................
 *
 * 태스크 함수 원형
 * ===================
 */
void  TaskStart(void *pdata); /* Function prototypes of Startup task */
void  Task1(void *pdata);
void  Task2(void *pdata);       
void  Task3(void *pdata);
void  Task4(void *pdata);
 
//
// 어플리케이션 메인 루틴
//
int main(void)
{
    OSInit(); /* microC/OS-II 초기화 */
 
    PC_ElapsedInit(); /* Initialized elapsed time measurement     */
 
    strcpy(TaskUserData[TASK_START_ID].TaskName, "TaskStart");
    
    // TASK CREATE
    OSTaskCreateExt(TaskStart,
                   (void *)0,
                   &TaskStartStk[TASK_STK_SIZE-1],
                   TASK_START_PRIO,
                   TASK_START_ID,
                   &TaskStartStk[0],
                   TASK_STK_SIZE,
                   &TaskUserData[TASK_START_ID],
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
 
    OSStart(); /* start scheduler */
 
    return 0;    
}
 
//
// 태스크 'START'
//
void  TaskStart (void *pdata)
{
    INT8U err;
    
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    // 시스템 초기화(UART, LCD, TimeTick)
    InitSystem();    
 
    OSStatInit();                /* Initialize uC/OS-II's 통계 함수 */
 
    // 1초마다 콘솔에 동작중을 표시(.)
    USE_OSTimeTickHook = 1; // refer to 'OS_CPU_C.C'
 
    strcpy(TaskUserData[TASK_1_ID].TaskName, "Task1");
    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);
 
    if (err) printf("OSTaskCreate error found, code[0x%X]\n",err);
 
#if 1 // No comment
    err = OSTaskSuspend(OS_PRIO_SELF);
        if (err) printf("OSTaskSuspend error found, code[0x%X]\n",err);
#endif // TODO #3
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 1
//
void Task1(void *pdata)
{
    INT8U err;
    struct tm time_s;    // USER defined time structure
 
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    printf("\n\nTask1 TASK created,\n");
 
    /* TODO #1: 
        Wait 5 Second from now on
        use 'OSTimeDly()' */
    printf("Wait 5 Second From now on\n");
 
#if 1
    OSTimeDly(500);//5 sec
#endif // TODO #1
    printf("finished\n\n");
 
    /* TODO #2: 
        Wait 10 Second from now on
        use 'OSTimeDlyCustom()' : 5 line */
    printf("Wait 10 Second From now on\n");
#if 1
    time_s.tm_msec=0;
    time_s.tm_sec=10;
    time_s.tm_min=0;
    time_s.tm_hour=0;
    OSTimeDlyCustom(&time_s);
#endif // TODO #2
    printf("finished\n");
 
#if 1 // No comment
    err = OSTaskSuspend(OS_PRIO_SELF);
        if (err) printf("OSTaskSuspend error found, code[0x%X]\n",err);
#endif // TODO #3
 
    // 1초마다 콘솔 출력 '중지'
    USE_OSTimeTickHook = 0; // refer to 'OS_CPU_C.C'
 
    printf("\n\ntask1 terminated,\n");
    err = OSTaskDel(OS_PRIO_SELF);    /* delete self task */
    if (err) printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// OSTimeDlyCustom
//
void OSTimeDlyCustom( struct tm *t )
{
    OSTimeDlyHMSM (t->tm_hour, t->tm_min, t->tm_sec, t->tm_msec);
}
 
/*-----------------------------------------------------------------------------
 * Program : 02_TIMER.C
-----------------------------------------------------------------------------*/
 
cs





*Makefile 설정



*TODO 1 , 2


*TODO 3





*OSTaskSuspend(INT8U prio);
=>테스크 일시 중단    prio : 중지시킬 데스크의 우선순위
OSTaskResume()으로 다시 동작할 수 있다.


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[RTOS_Day3]통계 테스크  (0) 2018.12.19
[RTOS_Day2]임계영역 보호  (0) 2018.12.18
[RTOS_Day1]테스크 생성 및 운용  (0) 2018.12.17

■RTOS


<환경 설정>


<Linux>

$ pwd

/home/mds

$ tar zxf Codesourcery.tar.gz -C /

$ tar zxf ucos2.tar.gz -C ~/

$ echo PATH=$PATH:/opt/CodeSourcery/Sourcery_G++_Lite/bin >> ~/.bashrc







$ cd ucos2/04.ucos2-final/

$ make clean && make




<Tera>
# set bootcmd 'tftp 30000000 MDS2450.bin;go 30000000'
# set bootdelay 1
# save





<Linux>

www.sublimetext.com/3



$ tar jxf sublime_text_3_build_3176_x32.tar.bz2 -C /opt/
$ echo PATH=$PATH:/opt/sublime_text_3/sublime_text >> ~/.bashrc
$ echo alias subl=/opt/sublime_text_3/sublime_text >> ~/.bashrc



$ cd ucos2/04.ucos2-final/
~/ucos2/04.ucos2-final$ subl .

<Ctrl + `> 활성화

https://packagecontrol.io/installation#st3 들어가서 복사


import urllib.request,os,hashlib; h = '6f4c264a24d933ce70df5dedcf1dcaee' + 'ebe013ee18cced0ef93d5f746d80ef60'; pf = 'Package Control.sublime-package'; ipp = sublime.installed_packages_path(); urllib.request.install_opener( urllib.request.build_opener( urllib.request.ProxyHandler()) ); by = urllib.request.urlopen( 'http://packagecontrol.io/' + pf.replace(' ', '%20')).read(); dh = hashlib.sha256(by).hexdigest(); print('Error validating download (got %s instead of %s), please try manual install' % (dh, h)) if dh != h else open(os.path.join( ipp, pf), 'wb' ).write(by)

붙혀 넣기

- 빌드 설정




<Ctrl + b>    =>컴파일
<Ctrl + Shift + f>   =>전체 찾기
<Ctrl + g>    =>라인 이동
<Ctrl + r>    =>함수 목록
<Ctrl + f2>   =>북마크 설정/해제
<f2>          =>북마크 이동





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#include "includes.h"
#include "ui.h"
 
// filename
char* filename = "01_TASKMAN";
 
/* ...........................................................................
 *
 * 태스크 스택 정의
 * ===================
 */
OS_STK TaskStartStk[TASK_STK_SIZE]; /* START task stack */
OS_STK Task1Stk[TASK_STK_SIZE]; /* Task #1 stack */
OS_STK Task2Stk[TASK_STK_SIZE]; /* Task #2 stack */
//OS_STK Task3Stk[TASK_STK_SIZE]; /* Task #3 stack */
//OS_STK Task4Stk[TASK_STK_SIZE]; /* Task #4 stack */
 
/* ...........................................................................
 *
 * 사용자 메모리 정의
 * ===================
 */
TASK_USER_DATA  TaskUserData[7];
 
/* ...........................................................................
 *
 * 이벤트 컨트롤 & 사용자 정의 블럭 정의
 * ===================
 */
struct Param_types {    /* struct for parameter passing to task */
       char *msg;
       int  P1,P2;
} Param_Tbl; 
int    task1timer,task2timer;
extern void seedrand(int seed);
extern int randomnumber(void);
 
/* ...........................................................................
 *
 * 태스크 함수 원형
 * ===================
 */
void  TaskStart(void *pdata); /* Function prototypes of Startup task */
void  Task1(void *pdata);
void  Task2(struct Param_types *Param);        
void  Task3(void *pdata);
void  Task4(void *pdata);
 
//
// 어플리케이션 메인 루틴
//
int main(void)
{
    OSInit(); /* microC/OS-II 초기화 */
    PC_ElapsedInit(); /* Initialized elapsed time measurement     */
    strcpy(TaskUserData[TASK_START_ID].TaskName, "TaskStart");
    
    // TASK CREATE
    OSTaskCreateExt(TaskStart,
                   (void *)0,
                   &TaskStartStk[TASK_STK_SIZE-1],
                   TASK_START_PRIO,
                   TASK_START_ID,
                   &TaskStartStk[0],
                   TASK_STK_SIZE,
                   &TaskUserData[TASK_START_ID],
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
 
    OSStart(); /* start scheduler */
 
    return 0;    
}
 
//
// 태스크 'START'
//
void  TaskStart (void *pdata)
{
    INT8U err;
    struct Param_types *Param;
 
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    // 시스템 초기화(UART, LCD, TimeTick)
    InitSystem();    
 
    // Task Statistics Title Display
    TaskStatisticsTitleDisplay(filename);
 
    OSStatInit();                /* Initialize uC/OS-II's 통계 함수 */
 
    printf("whatmam\n");
    // TASK CREATE
    /* TODO #1: 
        Task1을 생성
        use 'OSTaskCreate' */
#if 1
err = OSTaskCreateExt((void(*)(void *))Task1,
                    (void *)Param,
                    &Task1Stk[TASK_STK_SIZE - 1],
                    TASK_1_PRIO,
                    TASK_1_ID,
                    &Task1Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_1_ID],
                    0);
 
 
#endif // TODO #1
 
    // Set TASK2 parameter
    Param = &Param_Tbl;        /* get parameter tbl addr */
    Param->P1 = 111111;        /* set parameter */
    Param->P2 = 222222;
    strcpy(TaskUserData[TASK_2_ID].TaskName, "task2");
 
    // TASK CREATE
    err = OSTaskCreateExt((void(*)(void *))Task2,
                    (void *)Param,
                    &Task2Stk[TASK_STK_SIZE - 1],
                    TASK_2_PRIO,
                    TASK_2_ID,
                    &Task2Stk[0],
                    TASK_STK_SIZE,
                    &TaskUserData[TASK_2_ID],
                    0);
                    
       if (err) Uart_Printf("OSTaskCreateExt error found, code[0x%X]\n",err);
 
    /* TODO #2: 
        Task1을 중지
        use 'OSTaskSuspend' */
#if 1
       err = OSTaskSuspend(TASK_1_PRIO);
#endif // TODO #2
 
    /* TODO #4: 
        Task1의 우선 순위를 'TASK_3_PRIO' 으로 변경
        use 'OSTaskChangePrio' and 'OSTaskResume' */
#if 1
err = OSTaskChangePrio(TASK_1_PRIO, TASK_3_PRIO);
err = OSTaskResume(TASK_3_PRIO);
#endif // TODO #4
 
    /* delete self task */
    err = OSTaskDel(OS_PRIO_SELF);
 
    if (err) Uart_Printf("OSTaskDel(OS_PRIO_SELF) error found, code[0x%X]\n",err);
}
 
//
// 태스크 1
//
void Task1(void *pdata)
{
    INT8U err;
    OS_TCB task_data;
 
    pdata = pdata;                /* 컴파일러 경고를 막기 위함 */
 
    Uart_Printf("\n\nTask1 TASK created,\n");
 
    err = OSTaskQuery(OS_PRIO_SELF, &task_data);
        if (err) Uart_Printf("OSTaskQuery error found, code[0x%X]\n",err);
 
    Uart_Printf("\n-------  Task1 information -------\n");
    Uart_Printf("task1 id = %d \n",task_data.OSTCBPrio);
    Uart_Printf("task1 priority = %d \n",task_data.OSTCBPrio);
    Uart_Printf("task1 status = %d \n",task_data.OSTCBStat);
    Uart_Printf("----------------------------------\n");
 
    while(1) {
    /* TODO #3: 
        코드를 실행 하여 보고
        OSTimeDly() 코드를 주석 처리한 후 그 결과를 설명한다 */
#if 1 // No comment
        OSTimeDly(100);
        Uart_Printf("a");    fflush(stdout);// 문자 'a' 출력
 
#endif // TODO #3
 
        task1timer++;
    }
}
 
//
// 태스크 2
//
void Task2(struct Param_types *Param)
{
    Uart_Printf("Task2 TASK created,\n");
 
    Uart_Printf("\n-------  Task2 parameter passed from main --------\n");
    Uart_Printf("task2 first parameter = %d \n",Param->P1);
    Uart_Printf("task2 second parameter = %d \n",Param->P2);
    Uart_Printf("--------------------------------------------------\n");
 
    while(1) {
    /* TODO #3: 
        코드를 실행 하여 보고
        OSTimeDly() 코드를 주석 처리한 후 그 결과를 설명한다 */
#if 1 // No comment
        OSTimeDly(100);
        Uart_Printf("b");    fflush(stdout);// 문자 'b' 출력
#endif // TODO #3
 
        task2timer++;
    }
}
 
/*-----------------------------------------------------------------------------
 * Program : 01_TASKMAN.C
-----------------------------------------------------------------------------*/
 
cs




* TODO 1



*TODO 2



*TODO 3



*TODO 4




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[RTOS_Day3]통계 테스크  (0) 2018.12.19
[RTOS_Day2]임계영역 보호  (0) 2018.12.18
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