UCOS同步与互斥

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 > 0uOSStatTaskCPUUsageInit(&err);                               /* Compute CPU capacity with no task running            */
#endif#ifdef CPU_CFG_INT_DIS_MEAS_ENCPU_IntDisMeasMaxCurReset();
#endifBSP_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));}}
}